This document provides instructions for using the YAMAHA ROBOT E41-Ver. 1.01 Disk Handling Robot (3, 4-axis specifications), including the steps for performing absolute reset.
This manual explains safety measures that must be observed before operating the robot, including the mandatory absolute reset and the prohibition of entering the robot’s movement range while the servo is on. It also details how to affix origin‑position stickers and interpret error messages.
Installation instructions cover unpacking, base preparation, cable connections, and end‑effector attachment. Adjustment chapters describe absolute reset methods, belt tensioning, and setting soft limits, while the maintenance section gives advice on bearing care and periodic movements to preserve oil films.
| Axes | 3 or 4 |
|---|---|
| Minimum X/Y rotation angle | 5° |
| Minimum Z/R travel distance | 5 mm |
The absolute reset is required only once after the robot is introduced; it is performed according to the steps in Chapter 4, section 3.1, and does not need to be repeated after power‑on.
Never enter the robot’s movement range while the servo is turned on; set the emergency stop and affix the origin‑position stickers before any motion.