Yamaha RCX142 User Manual page 196

11. "MANUAL" mode
w
WARNING
The robot starts to move when a
Jog key or movement key is
pressed. To avoid danger, do not
enter the robot movement range.
4
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 44 to 56%. 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.
134
4-
2) The axis using the mark method appears highlighted on the LCD screen.
Use the cursor (↑/↓) keys to select the axis.
Use the Jog keys or the
selected axis to a position for performing absolute reset. Set at this time so that the
machine reference is between 44 to 56%.
Fig. 4-11-95
MANUAL >RST.ABS>ALL
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG /
M2 = NG /
M3 = NG /
M4 = OK /
ADJ.+ ADJ.-
3) Press the key and a confirmation 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. 4-11-96
MANUAL >RST.ABS>ALL
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG /
M2 = NG /
M3 = NG /
M4 = OK /
Reset ABS OK?
4) If the servo is on when performing absolute reset on all axes that use the mark
method, the robot will move to the "0" pulse position after reset.
(ADJ.+) and (ADJ.-) keys to move the
F 1 F 2
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
VEL-
NO