Yamaha YK-X Series User Manual page 3

Before using the robot
(Be sure to read the following notes.)
At this time, our thanks for your purchase of this YAMAHA YK-XG series SCARA
robot.
1. Please be sure to perform the following tasks before using the robot.
Failing to perform the tasks below will require re-teaching of the robot since the
origin position cannot be set to the same previous position. Robot malfunctions
(vibration, noise) may also occur.
The origin position of the YK-XG series robots is adjusted to the robot arm ex-
tended position at the factory prior to shipment, so the reference or standard coor-
dinates are temporarily set. The customer should set the origin position before
any other job. There are 2 types of origin position settings as shown below.
[1] Setting the robot arm extended position (the origin position adjusted
at the factory prior to shipment) as the origin position
(When setting the origin position with the robot arm extended, you
must check that there will not be any interference from any periph-
eral equipment during the next absolute reset.)
[2] Setting a position OTHER than the robot arm extended position
(the origin position adjusted at the factory prior to shipment) as the
origin position
[1] To set the robot arm extended position (the origin position adjusted
at the factory prior to shipment) as the origin position
Absolute Reset
The YK-XG series robots only require the absolute reset to be performed once
when the robot is introduced. Once the absolute reset is performed, you do not
need to reperform it when the power is turned on next time. Set the origin
position while referring to absolute reset methods in "3. Adjusting the origin"
in Chapter 4 of this manual and in "Absolute Reset" of the "YAMAHA Robot
Controller User's Manual". Setting of standard coordinates is not required in
the above case. To set the standard coordinates with high accuracy, refer to "5.
Setting the Standard Coordinates" in Chapter 4 of this manual and "Setting the
Standard Coordinates" in the "YAMAHA Robot Controller User's Manual". If
the standard coordinate settings are incorrect, robot malfunctions (vibration,
excessive noise) may occur.
! CAUTION
Never enter the robot movement range once the robot servo is turned on as
this is extremely hazardous.