Table of Contents
Advertisement
4.1
Use a standard coordinate setup jig (option) to set the standard coordinates more accurately.
The following describes how to set the standard coordinates using the standard coordinate setup jig.
Standard coordinate setup jig (option)
Part No.
99480-06018
KCY-M1577-000
91312-04065
Turn on the controller.
1
Check that no one is inside the safety
3
enclosure, and then turn on the controller.
Put the robot in the emergency
2
stop status.
Press the emergency stop button on the PBX
to put the robot in the emergency stop status.
n
NOTE
For details about emergency stop and how to
cancel the emergency stop, see the "YAMAHA
Robot Controller User's Manual".
Place a sign indicating the robot is
3
being adjusted.
Place a sign indicating the robot is being
adjusted, to keep others from operating the
controller or operation panel.
Enter the safety enclosure while
4
holding the PBX.
Insert the shaft.
5
1. Make the adjustment so that the X-axis
2. Adjust the arm positions so that the shaft
Secure the shaft with the bolts.
6
Tighten the bolts so that the shaft does not
move.
Insert the pin.
7
Insert the pin into the hole in the base as
shown in the Fig.
Make a note of the Y-axis position
8
pulse value.
1. Access the "Jog" screen.
2. Lightly apply a clockwise torque to the
3. Make a note of the Y-axis position pulse
4. Lightly apply a counterclockwise torque
5. Make a note of the Y-axis position pulse
3-30
Standard coordinate setting using a standard coordinate setup jig
Name
Pin
Shaft
Bolt
arm and Y-axis arm are aligned on an
almost straight line.
enters the slot in the Y-axis arm and the
hole in the X-axis arm without prying, and
then insert the shaft.
Y-axis while holding the X-axis.
value displayed on [CURRENT] when the
torque is unloaded.
to the Y-axis while holding the X-axis.
value displayed on [CURRENT] when the
torque is unloaded.
Q'ty
1
1
1
Step 5-6
23311-FK-00
23312-FH-00
Step 7
Installing the Y-axis standard coordinate jig
Shaft
Bolt
Slot
Hole
Installing the X-axis standard coordinate jig
Pin
Advertisement
Table of Contents
