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4-15
CHAPTER 4 Adjustment
3-3-3 Stroke end method (Z-axis)
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 M3 (Z-axis). (Z-axis: M3)
To perform absolute reset on all axes, select "ALL" with the F11 (LOWER+F1)
key.
6) 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).
7) After the absolute reset is completed, check that the machine reference value
displayed on the MPB is within the absolute reset tolerance range (26 to 74).
If the machine reference value is outside the absolute reset tolerance range,
then the next absolute reset may not be properly performed.
In this case, refer to "Chapter 4, 3-4 Adjusting the machine reference" and
make the necessary adjustments.