Yamaha RCX40 User Manual page 187

w
WARNING
When you perform direct
teaching, make sure that the
emergency stop button is
pressed so that the servo will
not turn on.
c
CAUTION
An error message, "17.91:D?,Cannot
perform ABS.reset" appears if the
machine reference is not within a
range of 25 to 75%. The 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.
In Servo-OFF
Check that the emergency stop button on the MPB is on, and move the selected axis
by direct movement to a position for absolute reset. Set so that the machine reference
is within a range of 25 to 75%.
Fig. 4-11-80
MANUAL >RST.ABS>M1
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG /
M2 = NG /
M3 = NG /
M4 = OK /
ADJ.+ ADJ.-
3) Press the key and a check message appears on the guideline.
Press the (YES) key to perform absolute reset of the selected axis.
F 4
Press the (NO) key to cancel absolute reset of the selected axis.
F 5
Fig. 4-11-81
MANUAL >RST.ABS>M1
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG /
M2 = NG /
M3 = NG /
M4 = OK /
Reset ABS OK?
4) When all axes have returned to origin, the dashed line (- - - -) on the message line
changes to a solid line (——), and return-to-origin is now complete. Then, press an
axis movement key and the MPB screen displays the current position of each axis.
5) When origin incomplete status cannot be canceled, this means an axis has still not
returned to origin. So repeat the absolute reset operation.
11. "MANUAL" mode
50% [MG] [SOHOJ]
50% M5= no axis
49% M6= no axis
TORQUE
72%
VEL+
50% [MG] [SOHOJ]
50% M5= no axis
49% M6= no axis
TORQUE
72%
YES
4
VEL-
NO
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