Absolute Reset On All Axes - Yamaha RCX142 User Manual

11. "MANUAL" mode
4
132
4-
11.8.3

Absolute reset on all axes

This section explains how to perform absolute reset on all axes of the robot controller.
The sequence for performing absolute reset of the axes is given below.
1. First, perform absolute reset at the current position, on all axes that use the
mark method.
2. Next, perform absolute reset according to the return-to-origin sequence on axes
using the stroke end and sensor methods.
Valid keys Menu
Cursor key
Specifies the axis definition number.
(↑/↓)
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%):
key (ADJ.+) to move to position w and the machine reference will
Press the
F 1
change to around 50%. (Absolute reset is now possible.)
or
key (ADJ.-) to move to position e and the machine reference will
Press the
F 2
change to around 50%. (Absolute reset is now possible.)
Fig. 4-11-91
Minus (-) direction
0 25
: Range in which absolute reset can be made (25 to 75%).
Function
e q
50 75 0 25
Machine reference (%)
Plus (+) direction
w
50 75 0