Yamaha RCX222 User Manual page 248

11. "MANUAL" mode
■ Absolute reset of all axes (mark method) (3)
MANUAL
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG /
M2 =
M3 =
M4 =
ADJ.+
Chapter
4
3) Press
Press
Press
w
WARNING
THE ROBOT STARTS TO MOvE WHEN ABSOLUTE RESET IS PERFORMED. TO AvOID
DANGER, DO NOT ENTER THE ROBOT MOvEMENT RANGE.
n
NOTE
An error message, "17.91:D?.Cannot perform ABS.reset" appears if the
machine reference is not within a range of 44 to 56%. Absolute reset
operation then terminates as an error.
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.
■ Absolute reset of all axes (mark method) (4)
MANUAL
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG /
M2 =
M3 =
M4 =
Reset ABS OK?
4) If the servo is on when performing absolute reset on all axes that use the mark
method, the robot will move to the "0" pulse position after reset.
4-150
>RST.ABS>ALL
50% M5= no axis
M6= no axis
OK / 72%
no axis
no axis
ADJ.-
and a confirmation message appears on the guideline.
(YES) to perform absolute reset on all axes using the mark method.
(NO) to cancel absolute reset on all axes using the mark method.
>RST.ABS>ALL
50% M5= no axis
/
OK 72% M6= no axis
no axis
no axis
50% [MG] [SOHOJ]
VEL+ VEL-
50% [MG] [SOHOJ]
YES NO