Yamaha RCX142 User Manual page 195

w
WARNING
The robot starts to move when
absolute reset is performed. To
avoid danger, do not enter the
robot movement range.
n
NOTE
When the mark method is used as the
origin detection method, absolute reset
is impossible unless the machine
reference is between 44 to 56%.
Absolute reset position and "0" pulse position
When absolute reset is performed at position A, the 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. 4-11-92
Minus (-) direction
0
: Range in which absolute reset can be made (44 to 56%).
[Procedure]
Fig. 4-11-93
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) Press the (ALL) key in "MANUAL>RST.ABS" mode to enter "ABS
F 11
RESET" mode for all axes.
Fig. 4-11-94
This screen shows the following information.
MANUAL >RST.ABS>ALL
––––––––––––––––––––––––––––––––––––––––
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
11. "MANUAL" mode
B A
25 50 75
Machine reference (%)
50% [MG] [SOHOJ]
M5= no axis
M6= no axis
M3 M4
50% [MG] [SOHOJ]
6% M5= no axis
49% M6= no axis
TORQUE
72%
VEL+
Machine Reference Setting(%)
Stroke end method
Plus (+) direction
0
M5
VEL-
6
49
72
133
4-
4