Absolute Reset Procedures; Sensor Method (X-Axis, Y-Axis And R-Axis) With Yrcx Controller; Sensor Method (X-Axis, Y-Axis And R-Axis) With Yrcx Controller - Omron R6YXGL250 Installation Manual

2.3

Absolute reset procedures

2.3.1

Sensor method (X-axis, Y-axis and R-axis) with YRCX controller

WARning
SeriouS injury might occur from phySical contact with the robot during operation. never enter
within the robot movement range during abSolute reSet.
the operation procedure using the pbeX is described below.
nOTE
• When pressing the
• For details about how to operate the robot controller, see the "OMRON Robot Controller User's Manual".
1
Turn on the controller.
Check that no one is inside the safety enclosure, and
then turn on the controller.
2
Place a sign indicating the robot is
being adjusted.
Place a sign indicating the robot is being adjusted, to
keep others from operating the controller or operation
panel.
3
Display the "ORIGIN RTN (TRQ/
SENS)" screen on the PEBX
(operation → return-to-origin).
4
Select an axis for absolute reset.
(X-axis: 1, Y-axis: 2, R-axis: 4)
use the cursor keys (
number or all axes (ALL) whose absolute reset is
performed.
The execution confirmation screen will pop up.
CAUTiOn
The Z-axis of the stroke end method first rises during the
absolute reset of all axes (default setting). Be careful that
your fingers do not get pinched or crushed by any sudden
movement.
5
Check the axis position.
Check that the axis whose absolute reset is performed
is located at a position on the plus side from the
origin. (See also the figure on the right.)
If not located on the plus side, move the target axis
to the plus side using the JOG operation beforehand.
key on the execution confirmation screen, the execution of the absolute reset is canceled.
/ ) to select an axis
3
3-5