YASKAWA MOTOMAN MYS450L Operating And Maintenance Instructions Manual page 33

Measure this distance
6. Firmly tighten two setscrews which are open at a 120 degrees interval so that they do not
enter the shaft groove.
Recommended tightening torque: 490 Ncm
7. Turn ON the Controller.
8. Move Z to its lower limit while pressing the brake release button, and then check the lower
limit position. Do not lower the mechanical stop too far. Otherwise, the joint may not
reach a target position.
9. Calculate the lower limit pulse value of the pulse range using the formula shown below
and set the value.
The result of the calculation is always negative because the lower limit Z coordinate value
is negative.
Lower limit of pulse = lower limit Z coordinate value / 20 x4096 x 1,5
Example:
When lowering the mechanical stop by 90 mm and changing the value of the lower limit Z-
coordinate to "-100" with a stroke
of 170 mm (-100) / 20 x 4096 x 1.5 = -30720
10.Using the IMPULS command (Go Pulse) , move Z to the lower limit position of the
pulse range at low speed. If the range of the mechanical stop is smaller than the pulse
range, Z strikes the mechanical stop and an error occurs. When the error occurs, either
change the pulse range to a lower setting or extend the position of the mechanical stop
within the limit.
If it is difficult to check whether Joint Z hits a
mechanical stop, turn OFF the Controller and lift the
NOTE
arm top cover to check the condition causing the
problem from the side
E1101000117GB01
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MYS450L
33