Yamaha RCX240 User Manual page 238

11. "MANUAL" mode
■ Key operations to move to a position where absolute reset is possible
For instance, when the current axis position is q (machine reference: 82%):
1
Press
around 50%. (Absolute reset is now possible.)
or
2 Press
around 50%. (Absolute reset is now possible.)
Minus (-) direction
3
4
■ Absolute reset position and "0" pulse position
5
When absolute reset is performed at position A, position B (machine reference 38%) is reset
as the "0" pulse position. This means that the robot will move to the "0" pulse position after
performing absolute reset with the servo turned on.
w
WARNING
6
THE ROBOT STARTS TO MOVE SLIGHTLY WHEN ABSOLUTE RESET IS PERFORMED WHILE
THE SERVO IS ON. TO AVOID DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE.
7
Minus (-) direction
8
9
10
4-160
Chapter 4 OPERATION
(ADJ. +), and the axis moves to w and the machine reference will change to
(ADJ. -), and the axis moves to e and the machine reference will change to
Key operations to move to a position where absolute reset is possible
0 25
: Range in which absolute reset can be made (44 to 56%).
Absolute reset position and "0" pulse position
0
: Range in which absolute reset can be made (44 to 56%).
3 1
50 75 0 25
B A
25 50 75
Plus (+) direction
2
50 75 0
Machine reference (%)
Plus (+) direction
0
Machine reference (%)