Yamaha YK-X Series User Manual page 113

(4) Relation between the X, Y and R-axis movement angle, the Z-axis
movement distance and the number of pulses
The tables below are for calculating resolver pulses with respect to the X, Y
and R-axis movement angles and to the Z-axis movement distance for each
robot. Use these figures as a guide to set the soft limits.
X, Y and R-axis speed reduction ratio and Z-axis ball screw lead for each robot
Robot model
YK500XG, YK600XG
YK600XGH, YK700XG, YK800XG, YK900XG, YK1000XG
Operation angle/distance vs. number of resolver pulses
X, Y and R-axis speed reduction ratio
Speed ratio Number of resolver pulses per turn (360 degrees)
30
50
80
100
105
121
Z-axis
Lead Number of resolver pulses per lead movement
10mm
12mm
20mm
30mm
X-axis
491520
819200
1310720
1638400
1720320
1982464
16384
16384
16384
16384
4-33
CHAPTER 4 Adjustment
Y-axis Z-axis
80 80 20mm
20mm
80 80
R-axis
30
50