Yamaha YK-XR Series Installation Manual page 5

CONTENTS
7. Limiting the movement range with X-axis and Y-axis mechanical stoppers
7.1 Installing the X-axis/Y-axis additional mechanical stoppers
7.2 Robot overrun during impacts with X-axis or Y-axis mechanical stopper
8. Working envelope
9. Stopping time and stopping distance at emergency stop
10. Installing the user wiring and tubing newly
11. Passing the wiring and tubing in the user wiring/tubing through spline type
12. Detaching or attaching the covers
Chapter 3 Robot settings
1. Overview
2. Adjusting the origin
2.1 Return-to-origin method
2.1.1 Stroke end method
2.1.2 Mark method
2.1.3 Sensor method (X-axis, Y-axis)
2.2 Machine reference
2.3 Return-to-origin procedures
2.3.1 Stroke end method
2.3.2 Sensor method (X-axis, Y-axis)
2.4 Adjusting the machine reference value
2.4.1 Stroke end method
2.4.2 Mark method
2.4.2.1 Absolute reset in servo on state (re-reset)
2.4.2.2 Absolute reset in servo off state (re-reset)
2.4.2.3 Absolute reset in servo on state (new reset)
2.4.2.4 Absolute reset in servo off state (new reset)
2.4.3 Sensor method (X-axis, Y-axis)
3. Setting the soft limits
3.1 Setting the X-axis and Y-axis soft limits
3.2 Setting the Z-axis soft limits
3.3 Setting the R-axis soft limits
3.4 Relation between the X, Y, and R-axis movement angle, the Z-axis movement distance and the number of pulses 3-28
4. Setting the standard coordinates
4.1 Standard coordinate setting using a standard coordinate setup jig
YK-XR
Installation Manual
2-20
2-21
2-23
2-24
2-27
2-30
2-31
2-32
3-1
3-2
3-3
3-3
3-4
3-4
3-5
3-6
3-6
3-7
3-9
3-9
3-13
3-14
3-16
3-19
3-21
3-23
3-27
3-27
3-28
3-28
3-29
3-30
T-3