Yamaha RCX40 User Manual page 191

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 25 to 75%. Absolute reset
operation 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.
3) Press the key and a check message appears on the guideline.
Press the (YES) key to perform absolute reset on all axes using the mark
F 4
method.
Press the (NO) key to cancel absolute reset on all axes using the mark
F 5
method.
Fig. 4-11-87
MANUAL >RST.ABS>ALL
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG /
M2 = NG /
M3 = NG /
M4 = OK /
Reset ABS OK?
4) When absolute reset ends correctly on all axes using the mark method, a check
message appears on the guideline if axes using the stroke end or sensor methods are
present.
Press the (YES) key to perform absolute reset on axes using the stroke end
F 4
or sensor method.
Press the (NO) key to cancel absolute reset on axes using the stroke end or
F 5
sensor method.
Fig. 4-11-88
MANUAL >RST.ABS>ALL
––––––––––––––––––––––––––––––––––––––––
Starting origin search
Reset ABS OK?
11. "MANUAL" mode
50% [MG] [SOHOJ]
50% M5= no axis
49% M6= no axis
TORQUE
72%
YES
50% [MG] [SOHOJ]
YES
4
NO
NO
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