Yamaha DRCX User Manual download pdf (Page 50)

CHAPTER 4 Installation

4-4

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.

2-1 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.)

Center of rotation

Alignment mark seals

Seals (supplied)

Fig. 4-1 Seals supplied with robot

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Yamaha DRCX User Manual Page 50