User's Manual

3-4-2 YK180X series (YK180X, YK220X) ...................................................................... 4-30
3-4-2-1 Adjusting the R-axis machine reference (YK180X, YK220X) ............................. 4-30
3-4-2-2 Adjusting the X-axis machine reference ............................................................. 4-32
3-4-2-3 Adjusting the Y-axis machine reference .............................................................. 4-34
3-4-2-4 Adjusting the Z-axis machine reference ............................................................. 4-36
4 Setting the Soft Limits ............................................................................4-39
5 Setting the Standard Coordinates .........................................................4-42
6Affixing Stickers for Movement Directions and Axis Names ..................4-43
7 Removing the Robot Covers .................................................................4-45
CHAPTER 5 Periodic Inspecition
1 Overview ..................................................................................................5-1
2Precautions ..............................................................................................5-2
3 Daily Inspection .......................................................................................5-3
4 Six-Month Inspection ...............................................................................5-5
5 Replacing the Harmonic Drive Grease ....................................................5-8
5-1 Replacement period ............................................................................................. 5-8
CHAPTER 6 Increasing the robot operating speed
1 Increasing the robot operating speed ......................................................6-1
CHAPTER 7 Specifications
1 Manipulator ..............................................................................................7-1
1-1 Basic specification ................................................................................................ 7-1
1-2 External view and dimensions .............................................................................. 7-2
1-3 Robot inner wiring diagram ................................................................................ 7-14
1-4 Wiring table ........................................................................................................ 7-15