Yamaha RCX142 User Manual page 325

n
NOTE
In the two-robot setting, Return-to-
origin s are performed in the main
robot → sub robot order. (The axis
operation order is according to the
parameter setting.)
w
WARNING
Robot motion occurs when an
absolute reset is performed. To
ensure safety, be sure to stay
out of the robot motion range at
this time.
c
CAUTION
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.
c
CAUTION
If absolute reset does not end
correctly after performing absolute
reset on all axes, check the return-to-
origin status on each axis. Then try
absolute reset on all axes once again
or try absolute reset on each
individual axis until you can
successfully set the return-to-origin.
2. Operations and data when using the two-robot setting
4) When the absolute reset is completed normally for all "mark method" axes, a
message displays on the guidance line if "stroke end method / sensor method" axes
exist.
To perform an absolute reset for the "stroke end method / sensor method" axes,
press the (YES) key at this time.
F 4
To abort this absolute reset operation, press the
Fig. 5-2-37 All axes absolute reset
MANUAL >RST.ABS>ALL
––––––––––––––––––––––––––––––––––––––––––
Starting origin search.
Reset ABS OK?
5) When the Return-to-origin is completed, the machine reference values display for
the "stroke end method / sensor method" axes.
Fig. 5-2-38 All axes absolute reset
MANUAL >RST.ABS
––––––––––––––––––––––––––––––––––––––––––
Machine reference (%)
S2=
M1 M2
6) When all axes have returned to their origins, the dashed line (- - - -) on the message
line changes to a solid line (——), and return-to-origin is now complete.
F 5
50/ 50%[MG][SOHOJ]
YES
50/ 50%[MG][SOHOJ]
M2= 50 S1=
50
S1 S2
(NO) key.
NO
50
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