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4-13
CHAPTER 4 Adjustment
3-3-2 Stroke end method (X and Y axes of YK120X, YK150X)
WARNING
Serious injury might occur from physical contact with the robot during opera-
tion.
Never enter within the robot movement range during absolute reset.
The operation procedure using the MPB is described next. (Press the ESC key on
the MPB if you want to return to the preceding step.)
See the "YAMAHA robot controller owner's manual" for information on operat-
ing the robot controller.
1) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
2) Place a sign indicating the robot is being adjusted, to keep others from touch-
ing the controller switch or operation panel.
3) Set the controller to MANUAL mode, if not in MANUAL mode.
4) Press the F13 (LOWER+F3) key to select "RST. ABS".
5) Select the X-axis or Y-axis for absolute reset. (X-axis: M1, Y-axis: M2)
To perform absolute reset on all axes, select "ALL" with the F11 (LOWER+F1)
key.
!
CAUTION
The Z-axis of the stroke end method first rises during the absolute reset of all
axes (default setting). Be careful that your fingers do not get pinched or crushed
by any sudden movement.
6) Confirm that the X-axis is at a position on the plus side of the origin (See
Fig. 4-2), and that the Y-axis is at the minus side. Make sure that the robot is
positioned in a right-handed system as shown in Fig. 4-2. If the axes are not
at these positions, press the jog keys, etc., and move the target axes. When
performing absolute reset for the other axes at the same time, confirm that
the other axes are also at an appropriate position. (Refer to procedures for
absolute reset of other axes)
7) Since the message "Reset ABS encoder OK?" is displayed, check that there
are not any obstacles in the robot movement range, and press the F4 key
(YES).