4-33
CHAPTER 4 Adjustment
(4) Relation between the X, Y and R-axis movement angle, the Z-axis
movement distance and the number of pulses
The tables below are for calculating resolver pulses with respect to the X, Y
and R-axis movement angles and to the Z-axis movement distance for each
robot. Use these figures as a guide to set the soft limits.
X, Y and R-axis speed reduction ratio and Z-axis ball screw lead for each robot
Operation angle/distance vs. number of resolver pulses
Z-axis
X, Y and R-axis speed reduction ratio
Robot model
YK500XG, YK600XG
YK600XGH, YK700XG, YK800XG, YK900XG, YK1000XG
X-axis
80
80
Y-axis
80
80
Z-axis
20mm
20mm
R-axis
30
50
Lead
10mm
12mm
20mm
30mm
Number of resolver pulses per lead movement
16384
16384
16384
16384
Speed ratio
30
50
80
100
105
121
Number of resolver pulses per turn (360 degrees)
491520
819200
1310720
1638400
1720320
1982464
Summary of Contents for YK-X Series
Page 1: ...User s Manual ENGLISH E YAMAHA SCARA ROBOT E35 Ver 1 08 YK XG YK X series ...
Page 2: ......
Page 6: ...MEMO ...
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Page 46: ...3 10 CHAPTER 3 Installation Ground symbol M4 Ground terminal Fig 3 6 Ground terminal ...
Page 78: ...3 42 MEMO ...
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Page 101: ...4 21 CHAPTER 4 Adjustment Cover Elongated hole Y axis origin sensor stay Bolt Fig 4 8 a ...
Page 102: ...4 22 CHAPTER 4 Adjustment Dog Hex nut Fig 4 8 b Bolt Y axis arm X axis arm Fig 4 8 c ...
Page 119: ...4 39 CHAPTER 4 Adjustment R End effector End effector Z Y X Fig 4 18 ...
Page 120: ...4 40 MEMO ...
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Page 138: ...5 16 CHAPTER 5 Periodic Inspection M6 16 M5 16 X axis motor Base Fig 5 3 ...
Page 146: ...5 24 CHAPTER 5 Periodic Inspection M3 16 M4 18 X axis arm Fig 5 10 ...
Page 155: ...5 33 CHAPTER 5 Periodic Inspection O ring r M5 14 M6 16 R axis motor Fig 5 17 ...
Page 156: ...5 34 CHAPTER 5 Periodic Inspection M3 14 M3 16 O ring w Fig 5 18 ...
Page 161: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1 ...
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