Yamaha YK-X Series User Manual page 8

5 User Wiring and User Tubing .....................................................................3-12
6 Attaching The End Effector ........................................................................3-16
6-1
6-2
6-3
6-4
6-5
7 Limiting the Movement Range with X-Axis Mechanical Stoppers ..............3-30
7-1
8 Working Envelope and Mechanical Stopper Positions for Maximum Working
Envelope ....................................................................................................3-33
CHAPTER 4 Adjustment
1 Overview ......................................................................................................4-1
2 Safety Precautions .......................................................................................4-1
3 Adjusting the origin ......................................................................................4-2
3-1
3-2
3-3
3-4
4 Setting the Soft Limits ................................................................................4-31
5 Setting the Standard Coordinates ..............................................................4-34
5-1
6 Affixing the Stickers for Movement Directions and Axis Names ................ 4-38
R-axis tolerable moment of inertia and acceleration coefficient .............................. 3-16
6-1-1 Acceleration coefficient vs. moment of inertia (YK500XG) ........................................ 3-17
6-1-2 Acceleration coefficient vs. moment of inertia (YK600XG) ........................................ 3-17
6-1-3 Acceleration coefficient vs. moment of inertia (YK600XGH) ..................................... 3-18
6-1-4 Acceleration coefficient vs. moment of inertia (YK700XG, YK800XG) ...................... 3-18
6-1-5 Acceleration coefficient vs. moment of inertia (YK900XG, YK1000XG) .................... 3-19
Equation for moment of inertia calculation .............................................................. 3-20
Example of moment of inertia calculation ................................................................ 3-23
Attaching the end effector ....................................................................................... 3-25
Gripping force of end effector .................................................................................. 3-29
YK500XG, YK600XG, YK600XGH, YK700XG, YK800XG, YK900XG, YK1000XG ... 3-31
Absolute reset method .............................................................................................. 4-3
3-1-1 Sensor method (X-axis, Y-axis, and R-axis) ................................................................ 4-3
3-1-2 Stroke end method (Z-axis) ......................................................................................... 4-3
Machine reference ..................................................................................................... 4-4
Absolute reset procedures ........................................................................................ 4-5
3-3-1 Sensor method (X-axis, Y-axis, and R-axis) ................................................................ 4-5
3-3-2 Stroke end method (Z-axis) ......................................................................................... 4-7
Changing the origin position and adjusting the machine reference ........................... 4-8
3-4-1 Sensor method ............................................................................................................ 4-9
3-4-1-1 YK500XG, YK600XG, YK600XGH, YK700XG, YK800XG, YK900XG, YK1000XG ..... 4-9
3-4-2 Stroke end method .................................................................................................... 4-27
3-4-2-1 YK500XG, YK600XG, YK600XGH, YK700XG, YK800XG, YK900XG, YK1000XG ... 4-27
Standard coordinate setting using a standard coordinate setup jig (option) ........... 4-35