Performing Return-To-Origin; Return-To-Origin By The Search Method - Yamaha ERCX Series User Manual

9-1 Performing Return-to-Origin

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9-1 Performing Return-to-Origin
There are two methods for detecting the origin position (reference point): search method and mark
method. The search method is further divided into the origin sensor method and stroke-end detection
method. In the mark method, you can move the robot to a desired position (mark position) and set it
as the particular coordinate position to determine a reference point.
The following sections explain how to perform return-to-origin by using the search method and mark
method.
Once return-to-origin is performed after the robot cable and absolute battery are connected, there is
no need to repeat it even when the controller is turned off. (As an exception, return-to-origin becomes
incomplete if the absolute backup function is disabled or a parameter relating to the origin is changed.
Return-to-origin must be reperformed in that case.)

9-1-1 Return-to-origin by the search method

When the search method is selected as the origin detection method (PRM13=0 or 1), perform return-
to-origin with the procedure below.
1) On the initial screen, press
2) Next, press (ORG).
F1
3) To perform return-to-origin, press
To cancel the operation, press
4) This screen is displayed during return-to-ori-
gin. Pressing during the operation brings
STOP
the robot to a halt and displays a message. Then,
pressing the key returns to the screen of
ESC
step 2.
5) When return-to-origin is completed normally,
the machine reference appears on the lower
right of the screen. Pressing the
turns to the screen of step 2.
(OPRT).
F2
(yes).
F1
(no).
F2
key re-
ESC
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
[OPRT]
select menu
1ORG 2STEP3AUTO
[OPRT-ORG-SEARCH]
ORG search OK ?
1yes 2no
[OPRT-ORG-SEARCH]
searching ...
[OPRT-ORG-SEARCH]
origin complete
machine ref. 50%