Yamaha RCX142 User Manual page 193

w
WARNING
The robot starts to move when
absolute reset is performed. To
avoid danger, do not enter the
robot movement range.
n
NOTE
When the "Origin detection method"
parameter is set to the stroke end
method:
Each axis moves in the specified
return-to-origin direction until it
reaches the stroke end, and then
moves back slightly in the opposite
direction to a position where
absolute reset is performed after
checking that absolute reset is
possible.
When the "Origin detection method"
parameter is set to the sensor method:
Each axis moves in the specified
return-to-origin direction. When the
origin sensor detects the origin, the
axis moves at low speed to a position
where absolute reset is performed
after checking that absolute reset is
possible.
2. When the stroke end or sensor method is used as the origin detection
method
When the selected axis uses the stroke end or sensor method, the servo must be turned
on to perform return-to-origin.
[Procedure]
1) In "MANUAL>RST. ABS" mode, press the
enter "MANUAL>RST.ABS" mode on each axis. A confirmation message appears
on the guideline.
Press the (YES) key to perform absolute reset of the selected axis.
F 4
Press the (NO) key to cancel absolute reset of the selected axis.
F 5
Fig. 4-11-89
MANUAL >RST.ABS>M3
––––––––––––––––––––––––––––––––––––––––
Starting origin search
Reset ABS OK?
2) After return-to-origin is complete, the machine reference of the selected axis is
displayed.
Fig. 4-11-90
>RST.ABS
MANUAL
––––––––––––––––––––––––––––––––––––––––
Machine reference (%)
M1 M2
3) When all axes have returned to origin, the dashed line (- - - -) on the message line
changes to a solid line (——), and return-to-origin is now complete. Then, press an
axis movement key and the MPB screen displays the current position of each axis.
4) To cancel the return-to-origin operation, press the
message "Origin Incomplete" then appears on the message line.
11. "MANUAL" mode
(M1) to
F 1 F 4
50% [MG] [SOHOJ]
YES NO
50% [MG] [SOHOJ]
M3 = 49
M3 M4 M5
key. In this case, the
STOP
(M4) keys to
4
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4-