Absolute Reset On All Axes - Yamaha RCX142 User Manual

2. Operations and data when using the two-robot setting
n
NOTE
For "Absolute reset on all axes"
details, also see "11.8.3 Absolute reset
on all axes" in Chapter 4.
c
CAUTION
Emergency stop might be triggered if
return-to-origin is simultaneously
performed on three or more axes
whose return-to-origin method is the
stroke end detection method. In this
case, change the setting so that stroke
end return-to-origin is simultaneously
performed on two axes or is
performed separately on each axis.
w
WARNING
Robot motion occurs when the
Jog key or the
F 1
(ADJ-) keys are pressed.
F 2
To ensure safety, be sure to stay
out of the robot motion range at
5
this time.
w
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.
22
5-
2.2.8.4

Absolute reset on all axes

This function performs an absolute reset on all the controller axes. This absolute reset is
performed in the following axis order:
q Absolute reset executed at the current position of all "mark method" axes (operation
order 2 to 3).
w Absolute reset executed in accordance with the robot parameter's Return-to-origin
order for "stroke end method / sensor method" axes (operation order 4 to ...).
[Procedure]
1) In the MANUAL>RST.ABS mode, press the
axes absolute reset" mode.
2) The "mark method" axes are highlighted.
Use the cursor up/down (↑/↓) keys to select the axis to be moved to the position
(ADJ+),
where the absolute reset is to occur, then use the Jog key or the
(ADJ-) keys to move the axis to that position.
F 2
When moving to the position for an absolute reset, be sure that the machine
reference display is within the 44 to 56 range.
Fig. 5-2-35 All axes absolute reset
MANUAL
––––––––––––––––––––––––––––––––––––––––––
M1 = NG /
M2 = NG /
S1 = NG / TORQUE
S2 = OK /
ADJ.+
3) Pressing the
To perform the absolute reset for the "mark method" at all axes, press the
(YES) key at this time.
To abort the absolute reset operation, press the
Fig. 5-2-36 All axes absolute reset
MANUAL
––––––––––––––––––––––––––––––––––––––––––
M1 = NG /
M2 = NG /
S1 = NG / TORQUE
S2 = OK /
Reset ABS OK?
>RST.ABS>ALL
Align axes with MARK, & Press ENTER.
61%
TORQUE
TORQUE
ADJ.-
key displays a confirmation message on the guidance line.
>RST.ABS>ALL
Align axes with MARK, & Press ENTER.
50%
TORQUE
TORQUE
(ALL) key to establish the "all
F 11
F 1
50/ 50%[MG][SOHOJ]
VEL+ VEL-
(NO) key.
F 5
50/ 50%[MG][SOHOJ]
YES NO
(ADJ+),
F 4