Yamaha RCX240 User Manual page 231

l Sensor method: When the origin sensor turns on during absolute search
l Stroke end detection method: When the stroke end is detected during absolute search
Absolute search (2)
A
q
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. (The robot moves from w.)
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.
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.
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.
Origin sensor turns on or stroke end is detected.
Max. 76mm
w
e
Absolute search start position
11. "MANUAL" mode
B
Return-to-origin direction
Stop position
Chapter 4 OPERATION
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