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CHAPTER 4 Adjustment
7) Set the soft limits to within the figure for the X-axis and Y-axis encoder pulses
that you noted above in step 5). This software limit setting must be made
from outside the safeguard enclosure.
Refer to the "YAMAHA robot controller owner's manual" for further details
on soft limit settings.
!
CAUTION
The origin position adjusted before shipment may vary as shown in "Chapter 7,
1-2 External view and dimensions".
When introducing the robot, be sure to set the soft limits with the number of
pulses from the origin position (0 pulse position).