Yamaha ERCX Series User Manual page 155

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CAUTION
When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE
mode function".)
• Return-to-origin movement speed is limited to 10mm/s or less (10deg/s for rotary robots) in "SERVICE mode
state" when the robot movement speed limit is enabled.
• If the hold-to-run function is enabled, robot movement stops upon releasing
"SERVICE mode state". (You must hold down
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CAUTION
When performing return-to-origin by the stroke-end detection method, do not interrupt the return-to-origin
operation while detecting the origin (while contacting the mechanical limit). Otherwise, the operation will stop
due to a controller overload alarm and the power will have to be turned on again.
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CAUTION
If return-to-origin operation using the stroke-end detection method must be repeated, wait at least 5 seconds
before repeating it.
9-1 Performing Return-to-Origin
F1
(yes) until return-to-origin is complete.)
F1
(yes) in step 3 in
9
3
9-