Yamaha RCX142 User Manual page 190

11. "MANUAL" mode
w
WARNING
The robot starts to move slightly
when absolute reset is
performed while the servo is on.
To avoid danger, do not enter the
robot movement range.
4
128
4-
Absolute reset position and "0" pulse position
When absolute reset is performed at position A, position B (machine reference 38%) is
reset as the "0" pulse position. This means that the robot will move to the "0" pulse
position after performing absolute reset with the servo turned on.
Fig. 4-11-83
Minus (-) direction
0
: Range in which absolute reset can be made (44 to 56%).
[Procedure]
Fig. 4-11-84
MANUAL >RST.ABS
––––––––––––––––––––––––––––––––––––––––
Press F.key to get axis for ABSRST
M1 = NG / Mark
M2 = NG / Mark
M3 = NG / TORQUE
M4 = OK / Mark
M1 M2
1) In "MANUAL>RST. ABS" mode, press the
enter "MANUAL>RST.ABS" mode on each axis. The selected axis appears
highlighted on the MPB screen.
Fig. 4-11-85
This screen shows the following information.
MANUAL >RST.ABS>M1
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG /
M2 = NG /
M3 = NG /
M4 = OK /
ADJ.+ ADJ.-
Axis Absolute Reset Status
Axis 1 Origin incomplete
Axis 2 Origin incomplete
Axis 3 Origin incomplete
Axis 4 Return to origin complete
No axis hereafter
B A
25 50 75
Machine reference (%)
50% [MG] [SOHOJ]
M5= no axis
M6= no axis
M3 M4
(M1) to
F 1
50% [MG] [SOHOJ]
6% M5= no axis
49% M6= no axis
TORQUE
72%
VEL+
Machine Reference Setting(%)
Stroke end method
Plus (+) direction
0
M5
(M4) keys to
F 4
VEL-
6
49
72