Setting The Soft Limits - Yamaha YK-X Series User Manual

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Setting the Soft Limits

In the YK-XG Series, the working envelope during manual and automatic opera-
tion can be limited by setting the plus soft limit [pulse] and minus soft limit
[pulse] on each axis. The origin point ( 0 [pulse] )is used as the reference to set
the soft limits. The working envelope can be limited by specifying the number of
pulses from the 0 pulse position. Refer to the "YAMAHA Robot Controller Us-
er's Manual" for further details. Also refer to the external view and dimensions in
the catalog or website (www.yamaha-motor.co.jp/global/industrial/robot) for the
working envelope area. When performing actual checks of the soft limit settings,
operate the robot manually from outside the safeguard enclosure.
(1) Setting the X-axis and Y-axis soft limits
The soft limits must be set within the movement range limited by the me-
chanical stoppers as explained in Section 7 in Chapter 3 or within the range
where the manipulator does not interfere with the peripheral equipment (but
within maximum working envelope). Set the soft limits with the following
procedure. Also use this procedure when the origin position has been changed.
Likewise, in models where the mechanical stopper position cannot be changed,
reduce the soft limits to narrow the working envelope when the actual work-
ing range of the robot is small or the manipulator interferes with the periph-
eral equipment.
1) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
2) Press the emergency stop button on the MPB to set emergency stop.
Refer to the "YAMAHA Robot Controller User's Manual" for further details
on emergency stop and canceling emergency stop.
3) Place a sign indicating the robot is being adjusted, to keep others from oper-
ating the controller or operation panel.
4) Enter the safeguard enclosure while holding the MPB.
5) Move the X-axis and Y-axis arms by hand to the mechanical stopper posi-
tions or to the point where interference with the peripheral equipment oc-
curs, and note the X-axis and Y-axis plus (+) and minus (-) direction pulses
displayed on the MPB.
6) Check that no one is inside the safeguard enclosure, then cancel emergency
stop from outside the safeguard enclosure.
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 enclo-
sure. Refer to the "YAMAHA Robot Controller User's Manual" for further
details on soft limit settings.
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CHAPTER 4 Adjustment