Communication Command Description; Robot Movements - Yamaha DRCX User Manual

11-5 Communication Command Description

11
8
11-
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
11-5 Communication Command Description

11-5-1 Robot movements

(1)@ORG [axis]
@ORGN [axis]
This command performs return-to-origin on all axes or a specified axis, or checks whether return-
to-origin is complete.
When the search method is selected as the origin detection method, this command performs return-
to-origin and outputs the machine reference value after completing the return-to-origin. When the
mark method is selected, this command checks whether return-to-origin is complete and outputs
the machine reference value if complete, but issues an error if not complete.
Axis
Transmission example
Response example 1
Response example 2
Response example 3
n
NOTE
When the mark method is used for one axis and the search method for the other axis, then return-to-origin on the
axis using the mark method must first be completed before performing return-to-origin on the axis using the search
method. Use the TPB to perform return-to-origin on the axis using the mark method.
n
NOTE
Once return-to-origin is performed after the robot cable and absolute battery are connected, there is no need to
repeat it even when the controller is turned off. (As an exception, return-to-origin becomes incomplete if the
absolute backup function is disabled or a parameter relating to the origin is changed. Return-to-origin must be
performed again in that case.)
c
CAUTION
When performing return-to-origin by the stroke-end detection method, do not interrupt the return-to-origin
operation while detecting the origin (while contacting the mechanical limit). Otherwise, the operation will stop
due to a controller overload alarm and the power will need to be turned on again.
c
CAUTION
If you must repeat return-to-origin using the stroke-end detection method, wait at least 5 seconds before
repeating it.
: Specify the axis. "0" for all axes, "1" for the X-axis, and "2" for
the Y-axis.
If this setting is omitted, all axes are selected.
: @ORG c/r l/f ................................ All axes return to their origin.
: OK c/r l/f
48% c/r l/f
52% c/r l/f
OK c/r l/f
: NG c/r l/f ...................................... The robot is running.
31: running c/r l/f
: NG c/r I/f ...................................... Return-to-origin is not com-
32: origin incomplete c/r l/f
Execute the command again
after stopping the robot.
plete on the axis using the
mark method.