Absolute Reset; Checking Absolute Reset Status - Yamaha RCX142 User Manual

n
NOTE
For "Absolute reset" details, also see
"11.8 Absolute Reset" in Chapter 4.
n
NOTE
For checking absolute reset status
details, also see "11.8.1 Checking
absolute reset" in Chapter 4.
2. Operations and data when using the two-robot setting
2.2.8

Absolute reset

The "absolute reset" function is used to teach the origin position when the motor's position
sensor cannot identify the origin position (a condition hereafter referred to as "origin
incomplete").
When an origin incomplete status occurs, all robot language executed motion commands
are disabled. In such a case, an absolute reset must be performed.
2.2.8.1

Checking absolute reset status

Checking absolute reset status of each axis on the controller.
[Procedure]
1) In the "MANUAL" mode, press the
Fig. 5-2-30 Checking absolute reset
MANUAL >RST.ABS
––––––––––––––––––––––––––––––––––––––––––
Press F.key to get axis for ABSRST
M1 = NG / TORQUE
M2 = NG / TORQUE
S1 = OK / TORQUE
S2= OK / TORQUE
M1 M2
M1= NG / TORQUE
* The display content varies depending on the robot and axes setting status.
(ABS.RST) key.
F 13
50/ 50%[MG][SOHOJ]
S1 S2
Return-to-origin method:
TORQUE ...Stroke end detection method
SENSOR ...Sensor method
MARK ...Mark method
Absolute reset statuses:
OK ...Return-to-origin complete status
NG ...Origin incomplete status
Axes:
M? ...Main robot axes
S? ...Sub robot axes
m? ...Main auxiliary axes
s? ...Sub auxiliary axes
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