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2.
The YK-X series robots use an absolute type position detector. The origin position (zero pulse point) can be
determined by return-to-origin. Once return-to-origin is performed, you do not have to repeat return-to-origin
when turning the power on next time. However, return-to-origin is required if any of the following cases
occur. The robot is shipped from the factory in condition "3." (below), so please perform return-to-origin after
installing the robot. For more details on return-to-origin, refer to "Return-to-origin" in the "YAMAHA Robot
Controller User's Manual".
1.
Absolute-related error occurred on the axis.
2.
Voltage drop was detected in the absolute battery for the driver installed inside the robot controller.
3
3.
Cable connecting the robot unit to the controller was disconnected. (This is the status when shipped from the factory.)
4.
Robot generation was performed.
5.
Parameters were initialized.
6.
Axis parameters "Origin shift", "Return-to-origin method", "Return-to-origin direction" or "Motor axis polarity" were
changed.
7.
Motor was replaced. (Motor wiring connector was removed.)
8.
Data in the ALL data file (extension: ALL) or parameter file (extension: PRM) was written into the controller by way of
the online command.
The following sections explain how to perform return-to-origin.
c
CAUTION
• If any of the above cases occur after installing the robot, return-to-origin must be performed again. To perform
return-to-origin, move the robot arms back to their origin positions where the robot does not interfere with
peripheral equipment after the setup is complete.
• After performing return-to-origin, move the robot to a known point to check whether the origin position is
correctly set. When doing this check, move the robot at the slowest possible speed.
• The standard coordinates and point data must be reset when the origin position is changed.
• Make point data setting after changing the origin position. After changing the origin position, do not use the
previous point data.
There are three Return-to-origin methods for the YK-X series: the sensor method, mark method, and stroke end
method. The X, Y, and R-axis use the sensor method as the initial setting, while the Z-axis uses the stroke end
method.
2.1
2.1.1
In the sensor method, the target axis is automatically operated for the return-to-origin, and the return-to-origin
is performed at the position where the proximity sensor provided on the target axis detects the detection area
(dog). The return-to-origin in the sensor method can be performed with the programming box (PBX), online
command, and dedicated input.
w
WARNING
Serious injury might occur from physical contact with the robot during operation. Never enter within the robot
movement range during return-to-origin.
c
CAUTION
The origin cannot be detected in any axis which is not positioned on the plus side from the origin (see the figure
stated in Step 5 of "2.3.1 Sensor method (X, Y, and R-axis)" in this Chapter) before starting the return-to-origin
operation. In this case, press the
plus side of the origin, and reperform the return-to-origin operation. If the return-to-origin operation is not
interrupted, the robot will continue the operation and may collide with the mechanical stopper or a peripheral
device. Since the R-axis has no mechanical stoppers, the end effector wiring and tubing may become
entangled.
3-2
Adjusting the origin
Return-to-origin method
Sensor method (X, Y, and R-axis)
key to interrupt the return-to-origin operation, move the target axis to the
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