Return-To-Origin Procedures; Stroke End Method - Yamaha YK-XR Series Installation Manual

2.3
2.3.1
w
WARNING
SERIOUS INjURY MAY OCCUR FROM PHYSICAL CONTACT WITH THE ROBOT DURING OPERATION. NEvER ENTER WITHIN
THE ROBOT MOvEMENT RANGE DURING RETURN-TO-ORIGIN.
The Z-axis and R-axis perform the return-to-origin in the stroke end method at the same time.
The operation procedure using the PBX is described below.
n
3
NOTE
• When pressing the
• For details about how to operate the robot controller, see the "YAMAHA Robot Controller User's Manual".
Turn on the controller.
1
Check that no one is inside the safety
enclosure, and then turn on the controller.
Place a sign indicating the robot is
2
being adjusted.
Place a sign indicating the robot is being
adjusted, to keep others from operating the
controller or operation panel.
Display the "ORIGIN RTN (TRQ/
3
SENS)" screen on the PBX
(operation → return-to-origin).
Select an axis whose return-to-
4
origin is performed.
Use the cursor keys (
axis number whose return-to-origin is
performed.
n
NOTE
As the return-to-origin operations of the Z-axis and
R-axis are performed simultaneously, you can
select either axis number 3 or 4.
The execution confirmation screen will pop up.
Perform the return-to-origin.
5
The return-to-origin execution confirmation
screen pops up.
Check that there are no obstacles within the
movement range, and then press
cancel the return-to-origin, press
the return-to-origin has been completed,
press
SENS)" screen.
Check the status and machine
6
reference value.
"Status" and "Ref." (machine reference) are
displayed on the "ORIGIN RTN (TRQ/SENS)"
screen.
Check that the status is "OK" and that the
machine reference value is within the return-
to-origin tolerable range (25 to 75%).
3-6

Return-to-origin procedures

Stroke end method

key on the execution confirmation screen, the execution of the return-to-origin is canceled.
/
to return to the "ORIGIN RTN (TRQ/
Step 3-4
24304-F0-00
) to select an
Step 5
. To
. After
Step 6
24304-F0-00
24305-F0-00
Return-to-origin mode screen
Return-to-origin
Machine reference value