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2.
The YK-XR series robots use an absolute type position detector. The origin position (zero pulse point) can be
determined by return-to-origin. Once return-to-origin is performed, you do not have to repeat return-to-origin
when turning the power on next time. However, return-to-origin is required if any of the following cases
occur. The robot is shipped from the factory in condition "3." (below), so please perform return-to-origin after
installing the robot. For more details on return-to-origin, refer to "Return-to-origin" in the "YAMAHA Robot
Controller User's Manual".
1.
Absolute-related error occurred on the axis.
2.
Power drop was detected in the absolute battery for the driver installed inside the robot controller.
3
3.
Cable connecting the robot unit to the controller was disconnected. (This is the status when shipped from the factory.)
4.
Robot generation was performed.
5.
Parameters were initialized.
6.
Axis parameters "Origin shift", "Return-to-origin method", "Return-to-origin direction" or "Motor axis polarity" were
changed.
7.
Motor was replaced. (Motor wiring connector was removed.)
8.
Data in the ALL data file (extension: ALL) or parameter file (extension: PRM) was written into the controller by way of
the Online command.
The following sections explain how to perform return-to-origin.
c
CAUTION
• If any of the above cases occur after installing the robot, return-to-origin must be performed again. To perform
return-to-origin, move the robot arms back to their origin positions where the robot does not interfere with
peripheral equipment after the setup is complete.
• After performing return-to-origin, move the robot to a known point to check whether the origin position is
correctly set. When doing this check, move the robot at the slowest possible speed.
• The standard coordinate and point data must be reset when the origin position is changed.
• Make point data setting after changing the origin position. After changing the origin position, do not use the
previous point data.
3-2
Adjusting the origin
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