Return-To-Origin Procedure - Yamaha RCX240 User Manual

11. "MANUAL" mode
11.8.3

Return-to-origin procedure

1
The robot must be at servo-on to perform return-to-origin on incremental type axes using the stroke
end detection method or sensor method for return-to-origin. Likewise, the robot must be at servo-
on to perform an absolute search on semi-absolute type axes.
c
CAUTION
2
Before performing return-to-origin, check that incremental type axes are in positions
that allow return-to-origin operation.
w
WARNING
THE ROBOT STARTS MOVING AS SOON AS RETURN-TO-ORIGIN IS PERFORMED. TO
3
AVOID HAzARDOUS SITUATIONS, DO NOT ENTER THE ROBOT MOVEMENT RANGE.
c
CAUTION
Emergency stop might be triggered if return-to-origin or absolute search is
4
simultaneously performed on three or more axes whose return-to-origin method is
the stroke end detection method. In this case, change the setting so that stroke end
return-to-origin or absolute search is simultaneously performed on two axes or is
performed separately on each axis.
5
n
NOTE
When two robots are specified, return-to-origin is first performed on the main group
and then on the sub group.
6
In "MANUAL" mode, press
1
A confirmation message appears on the guideline.
Press
Press
7
8
9
To stop the return-to-origin operation, press the
In this case, the message "0.14: Stop executed" appears on the message line.
10
4-154
Chapter 4 OPERATION
(YES) to perform return-to-origin.
(NO) to cancel return-to-origin.
Return-to-origin procedure (1)
(ORIGIN).
.