Return-To-Origin; Return-To-Origin Operation - Yamaha RCX221 User Manual

11. "MANUAL" mode

11.8 Return-to-origin

After the power to the controller is turned on, return-to-origin must be performed before
starting robot operation. When return-to-origin is performed, the robot arms move to their
mechanical origin positions and the position data in the controller is reset.
Return-to-origin must be performed on incremental mode axes. On semi-absolute mode
axes, an absolute search (also called absolute reset) is performed by return-to-origin
operation (see 11.8.2).
The following parameters are for return-to-origin operation. For more details on each
Chapter
4
parameter, refer to items described in "12.1 Parameters" of chapter 4.
Category
Robot parameter
Axis parameter
11.8.1
Return-to-origin methods include the sensor method and stroke end detection method.
Each return-to-origin method is described below.
Refer to "11.8.3 Return-to-origin procedure" for instructions on how to perform return-to-origin.
● Return-to-origin operation using the sensor method
■ Return-to-origin operation using the sensor method
q Before performing return-to-origin, check that all axes are in positions that allow

return-to-origin.

Return-to-origin direction
Minus (-) direction
Plus (+) direction
4-136
Parameter name
Origin sequence
Origin speed
Origin shift
Origin method
Origin direction

Return-to-origin operation

Origin sensor
Plus (+) side from origin sensor position
Minus (-) side from origin sensor position
Sets the order in which to perform return-
to-origin or absolute search on each axis.
Sets the speed at which to perform return-
to-origin or absolute search.
Sets the offset of origin position data.
Sets the method for performing return-to-
origin or absolute search.
Sets the direction for performing return-to-
origin or absolute search.
Return-to-origin direction
Return-to-origin start position
Position allowing return-to-origin
Description