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3.Setting the standard coordinates
Set the standard coordinates while referring to instructions in "4. Setting the standard coordinates" in Chapter 3 of
this manual and also to "Setting the Standard coordinates" in the "YAMAHA Robot Controller User's Manual". Robot
malfunctions (vibration, noise) may occur if the standard coordinates are not set correctly.
Even though there is no problem with the robot, the error messages are issued when the robot and controller are
connected and power first turned on. (Actual error messages may differ according to how the robot and controller are
connected.)
Example of error messages issued when robot & controller are connected Example
17.410: ABS. battery error
17.411: ABS. encoder error
17.412: ABS. count error
17.413: ABS. overflow error
17.414: ABS. mixing error 1
2.
Repetitive positioning accuracy
"Repetitive positioning accuracy" is not guaranteed under the following conditions.
[1] Factors related to absolute accuracy
• If the accuracy between the coordinate positions (command positions) inside the robot controller and the real
space positions (moving positions) is required.
[2] Motion pattern factors
• If a motion approaching to the teaching point from a different direction is included during repetitive operation.
• If the power is turned off or the robot is stopped before completing the motion or the moving speed is changed
even when approaching to the teaching point from the same direction.
• If the robot is moved to the teaching point using a hand system different from the hand system (right-handed or
left-handed system) used for the teaching.
[3] Temperature factors
• If the ambient temperature environment changes significantly.
• If the temperature of the robot main body changes.
[4] Load variation factors
• If load conditions vary during operation (the load varies depending on whether or not the workpiece is present, etc.).
3.
If the X-axis, Y-axis or R-axis rotation angle is small.
If the X-axis, Y-axis or R-axis rotation angle is smaller than 5° so that it moves in almost the same position, an oil film is
difficult to be formed on the joint support bearing, possibly leading to damage to the bearing. In this type of operation,
add a movement so that the joint moves through 90° or more, about 5 times a day.
4.
Do not remove the Z-axis upper-end mechanical stopper
Removing or moving the upper-end mechanical stopper attached to the Z-axis spline can damage the Z-axis ball screw.
Never remove or move it.
etc.
iii
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