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4.
Setting the standard coordinates
c
CAUTION
If the standard coordinate settings are incorrect, the acceleration cannot be optimized to match the arm
position. This results in too short a service life, damage to the drive unit, or residual vibration during positioning. In
addition, the cartesian coordinate accuracy will be impaired.
Setting the standard coordinates enables the following operations and functions.
1. Optimizes acceleration according to arm position during automatic operation.
2. Allows moving robot arm tip at right angles.
3. Allows using shift coordinates.
4. Enables commands such as linear interpolation and arm switching.
The procedure for setting standard coordinates and cautions are shown below.
Turn on the controller.
1
Check that no one is inside the safety enclosure, and then turn on the controller.
Check that the soft limits are correctly set.
2
If not correctly set, adjust the soft limits while referring to "3. Setting the soft limits".
Place a sign indicating the robot is being adjusted.
3
Place a sign indicating the robot is being adjusted, to keep others from operating the controller or
operation panel.
Enter the safety enclosure while holding the PBX.
4
At this time, stay outside the robot movement range.
c
CAUTION
Never enter the robot movement range.
Set the standard coordinates.
5
See "Setting the standard coordinates" stated in the "YAMAHA Robot Controller User's Manual".
n
NOTE
The next section, "4.1 Standard coordinate setting using a standard coordinate setup jig (option)", describes how
to set the standard coordinates more accurately using an optional setup jig.
Check that the standard coordinates are set correctly.
6
1. Does jog operation (millimeter coordinate system) move the robot arm tip at right angles?
2. Check that the values nearly equal to the X-axis and Y-axis arm lengths are entered in "Arm length"
of the axis parameters.
If points 1 and 2 shown above are not satisfied, the standard coordinate settings are incorrect. So, make
the standard coordinate settings again.
3
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