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CHAPTER 4 Adjustment
3-4-1 YK120X series (YK120X, YK150X)
3-4-1-1 Adjusting the R-axis machine reference (YK120X, YK150X)
The adjustment method for the R-axis machine reference is as follows.
1) Prepare the necessary tools.
• Phillips-head screwdriver
2) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
3) Perform the absolute reset from outside the safeguard enclosure.
Refer to "3-3 Absolute reset procedures" for information about the absolute
reset method.
4) If any machine reference value displayed on the MPB is not in the range
between 40 and 60 (recommended range) after the absolute reset has been
completed, then proceed with the following adjustment procedure.
5) Place a sign indicating that the robot is being adjusted in order to keep others
from operating the controller or operation panel.
6) Turn off the controller and enter the safeguard enclosure.
7) Mark off the reference mark at the current origin position on the R-axis joint
area of the robot.
At this time, be careful to prevent the origin position from deviating since the
R-axis is touched.
8) Using a Phillips screwdriver, loosen the two screws fixing the dog at the R-
axis joint. (See Fig. 4-7.)
!
CAUTION
The screw only needs to be loosened and does not need to be removed com-
pletely.
9) Move the dog in the following manner.
When machine reference < 40%: Move dog in A direction
When machine reference > 60%: Move dog in B direction
The movement guide is 2.3mm/100%.
10) Tighten the screw and fix the dog.