Mark Method (R-Axis) - Yamaha YP-X Series Owner's Manual

CHAPTER 4 Installation
2-1
The mark method or the stroke end method can be used to perform absolute reset
for the YP-X series. The mark method is used for the R-axis default setting and
the stroke end method is used for the X, Y and Z axis default settings.

Mark method (R-axis)

In the mark method, the robot is moved beforehand to the position where you
want to perform absolute reset. That position will be the absolute reset position.
(1) Move the robot in jog mode while in servo-on.
(2) Move the robot manually while in servo-off.
! CAUTION
Absolute reset by the mark method is also possible by using a teaching
pendant or data sent through an RS-232C. However, absolute reset is not
possible with custom inputs.
! CAUTION
The YP320XR, YP340X and YP220BXR come supplied with alignment mark
seals for the R-axis. Perform absolute reset by the mark method, and then
attach these seals (or stickers) after finding the origin position. If you at-
tach the seal as far away from the center of rotation as possible, then the
repeatability is higher when the next time absolute reset is needed. (See Fig.
4-1.)
Seals (supplied)
Fig. 4-1 Seals supplied with robot
Center of rotation
4-4
Alignment mark seals