Absolute Reset On Each Axis (Mark Method) - Yamaha RCX142 User Manual

2. Operations and data when using the two-robot setting
n
NOTE
For absolute reset (mark method) on
each axis, also see "11.8.2 Absolute
reset on each axis" in Chapter 4.
w
WARNING
• Robot motion occurs when the
Jog key or the
(ADJ-) keys are pressed.
F 2
To ensure safety, be sure to
stay out of the robot motion
range at this time.
• When you perform direct
teaching, make sure that the
5
emergency stop button is
pressed so that the servo
will not turn on.
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WARNING
Slight robot motion occurs when
an absolute reset is performed
in a "Servo ON" condition. To
ensure safety, be sure to stay
out of the robot motion range at
this time.
c
CAUTION
An error message, "17.91:D?.Cannot
perform ABS.reset" appears if the
machine reference is not within a
range of 44 to 56%. The absolute
reset operation then terminates as an
error.
If the robot controller is in origin
incomplete due to some kind of
problem 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.
20
5-
2.2.8.2

Absolute reset on each axis (Mark Method)

This function performs an absolute reset only at the specified mark method axis. Return-
to-origin methods are not possible when performing Return-to-origin methods using the
mark method.
[Procedure]
1) In the MANUAL>RST.ABS mode, press the function key corresponding to the axes
where an absolute reset is desired. The RST.ABS mode is then established at each
axis. The function key display content varies according to the robot and axes setting
statuses.
2) When in a "Servo ON" condition, use the Jog key or the
keys to move the specified axis to the position where the absolute reset is to occur.
(ADJ+),
F 1
When in a "Servo OFF" condition, press the MPB's [Emergency Stop] button to
establish an emergency stop status. In this status, move the specified axis in a direct
manner to the position where an absolute reset is to occur.
When moving to the position for an absolute reset (in either of the above
conditions), be sure that the machine reference display is within the 44 to 56 range.
Fig. 5-2-31 Absolute reset on each axis (Mark method)
MANUAL
––––––––––––––––––––––––––––––––––––––––––
M1 = NG /
M2 = NG /
S1 = OK / TORQUE
S2 = OK /
ADJ.+
3) Pressing the
To perform the absolute reset for the specified axis, press the
this time.
To abort the absolute reset operation, press the
Fig. 5-2-32 Absolute reset on each axis (Mark method)
MANUAL
––––––––––––––––––––––––––––––––––––––––––
>RST.ABS
Align axes with MARK, & Press ENTER.
61%
TORQUE
TORQUE
ADJ.-
M1= NG /
key displays a confirmation message on the guidance line.
>RST.ABS
Align axes with MARK, & Press ENTER.
M1 = NG / 50%
M2 = NG / TORQUE
S1 = OK / TORQUE
TORQUE
S2 = OK /
Reset ABS OK?
(ADJ+),
F 1
50/ 50%[MG][SOHOJ]
VEL+ VEL-
61%
Machine reference (%)
* The return-to-origin method displays
for axes where a method other than
the mark method is in effect.
Absolute reset statuses:
OK ...Return-to-origin complete status
NG ...Origin incomplete status
Axes:
M? ...Main robot axes
S? ...Sub robot axes
m? ...Main auxiliary axes
s? ...Sub auxiliary axes
F 4
(NO) key.
F 5
50/ 50%[MG][SOHOJ]
YES NO
(ADJ-)
F 2
(YES) key at