Yamaha RCX240 User Manual page 435

All axes absolute reset
Check the machine reference.
6
When the return-to-origin is completed, the machine reference values are displayed for
the "stroke end method / sensor method" axes. Make sure they are within the allowable
range.
c
CAUTION
If the robot controller is in origin incomplete due to some kind of problems, perform
absolute reset on the axis which was unable to return to origin. After absolute reset,
always check if the axis can move to the same position as before origin incomplete.
All axes absolute reset
Check the message line display.
7
When all axes have returned to their origins, the dashed line (- - - -) on the message line
changes to a solid line (——), and return-to-origin is now complete.
c
CAUTION
If absolute reset does not end correctly after performing absolute reset on all axes,
check the return-to-origin status on each axis. Then try absolute reset on all axes
once again or try absolute reset on each individual axis until you can successfully
set the return-to-origin.
Return-to-origin may still be incomplete if the robot has an incremental type axis.
Perform return-to-origin in this case.
2. Operations and data when using the two-robot setting
Chapter 5 TWO-ROBOT SETTING
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