Axis Absolute Reset - Yamaha RCX40 User Manual

n
NOTE
When the mark method is used as the
origin detection method, absolute reset
is impossible unless the machine
reference is between 25 to 75%.
w
WARNING
The robot starts to move when a
movement key is pressed. To
avoid danger, do not enter the
robot movement range.
11.8.2

Axis absolute reset

This section explains how to perform absolute reset of each axis using the robot controller.
The absolute reset method differs depending on the following settings for the "Origin
detection method" parameter.
1. Mark method
2. Stroke end or sensor method
1. When the mark method is used as the origin detection method
Return-to-origin is not performed on an axis using the mark method. So use the
movement keys while in servo-on, or direct movement while in servo-off, to move to
a position where absolute reset can be performed.
Valid keys Menu
Moves the selected axis in the plus direction to the first position
F1 ADJ+
where absolute reset is possible.
Moves the selected axis in the minus direction to the first position
F2 ADJ-
where absolute reset is possible.
Increases manual movement speed for the selected robot group in steps.
F4 VEL+
(1→5→20→50→100 %)
Decreases manual movement speed for the selected robot group in steps.
F5 VEL-
(100→50→20→5→1 %)
Increases manual movement speed for the selected robot group in 1%
F9 VEL++
increments.
Decreases manual movement speed for the selected robot group in 1%
F10 VEL--
decrements.
Key operations to move to a position where absolute reset is possible
For instance, when the current axis position is q (machine reference: 82%):
(ADJ. +), and the axis moves to w and the machine reference
Press the key
F 1
will change to around 50%. (Absolute reset is now possible.)
or
(ADJ. -), and the axis moves to e and the machine reference
Press the key
F 2
will change to around 50%. (Absolute reset is now possible.)
Fig. 4-11-77
Minus (-) direction
0 25
: Range in which absolute reset can be made (25 to 75%).
Function
e q
50 75 0 25
Machine reference (%)
11. "MANUAL" mode
Plus (+) direction
w
50 75 0
125
4-
4