Sensor Method; Yk500Xg, Yk600Xg, Yk600Xgh, Yk700Xg, Yk800Xg, Yk900Xg, Yk1000Xg - Yamaha YK-X Series User Manual

3-4-1

Sensor method

3-4-1-1 YK500XG, YK600XG, YK600XGH, YK700XG, YK800XG,
YK900XG, YK1000XG
1-1 Adjusting the X-axis machine reference
CAUTION
!
The origin position may change due to machine reference adjustment. If it oc-
curs, you must set point data again.
The adjustment method for the X-axis machine reference is as follows.
1) Prepare a hex wrench set.
2) Check that no one is inside the safeguard enclosure and then turn on the
controller.
3) Perform the absolute reset from outside the safeguard enclosure.
Refer to "3-3 Absolute reset procedures" for information about the absolute
reset method.
4) If any machine reference value displayed on the MPB is not in the range
between 40 and 60 (recommended range) after the absolute reset has been
completed, then proceed with the following adjustment procedure.
5) Place a sign indicating that the robot is being adjusted in order to keep others
from operating the controller or operation panel.
6) Turn off the controller and enter the safeguard enclosure.
7) Mark off the reference mark at the current origin position on the X-axis joint
area of the robot.
At this time, be careful to prevent the origin position from deviating since the
X-axis arm is touched.
8) Remove the cover.
9) Scribe a mark on the position of the X-axis origin sensor stay.
10) Using the hex wrench, loosen the two bolts securing the X-axis origin sensor
stay. (See Fig. 4-3.)
! CAUTION
The bolts only need to be loosened, and do not need to be completely re-
moved.
4-9
CHAPTER 4 Adjustment