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● Sensor method: When the origin sensor turns on during absolute search
● Stroke end detection method: When the stroke end is detected during absolute search
■ Absolute search (2)
Origin sensor turns on or stroke end is detected.
A
Max. 76mm
q Upon starting return-to-origin, the robot moves in the return-to-origin direction to
start an absolute search.
n
NOTE
If the origin sensor was on when the robot was at the absolute search start
position, the robot moves in a direction opposite the return-to-origin
direction to perform an absolute search. (Operation starts from w shown on
the right.)
w In the sensor method, when the origin sensor turns on (position A), the robot moves
back toward position B. In the stroke end detection method, when stroke end is
detected (position A), the robot moves back toward position B. At this point, the
maximum distance that the robot moves from position A to position B is 76mm.
e The robot again moves in the return-to-origin direction, determines the current
position, and then stops. The stop position will be between position A and position B.
c
CAUTION
During stroke end detection, if absolute search operation is interrupted while
the robot arm is still contacting the stroke end, then an error "17.4:D?, Overload"
might occur.
B
Stop position
Absolute search start position
11. "MANUAL" mode
Return-to-origin direction
Chapter
4
4-139
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