Return-To-Origin By The Mark Method - Yamaha ERCX Series User Manual

9-1 Performing Return-to-Origin
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9-1-2 Return-to-origin by the mark method

When the mark method is selected as the origin detection method (PRM13=2), perform return-to-
origin with the procedure below.
1) Press (OPRT) on the initial screen.
F2
2) Next, press (ORG).
F1
3) To use the teaching playback method for set-
ting a mark position, press
the direct teaching method to set a mark posi-
tion, press (DTCH).
F2
4) When the teaching playback method was se-
X
lected, use X and +
–
Z Z
the mark position.
The movement method is just the same as the
teaching playback method for point data. (See
"7-2 Teaching Playback".)
When the robot reaches the mark position, press
. (At this point, check that the machine ref-
erence is in a range from 25 to 75%. Other-
wise, the origin point cannot be set correctly.)
5) When the direct teaching method is selected, a
message appears asking you to press the emer-
gency stop button. Press the emergency button
on the TPB.
6) Move the robot by hand to the mark position,
and then press .
(At this point, check that the machine reference
is in a range from 25 to 75%. Otherwise, the
origin point cannot be set correctly.)
(TCH). To use
F1
to move the robot to
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
[OPRT]
select menu
1ORG 2STEP3AUTO
[OPRT-ORG-MARK]
select menu
1TCH 2DTCH
[ORG-MARK-TCH](1) 50
move at mark point
ref. 50% [ 0.00]
1DO 2SPD 3S_SET
[ORG-MARK-DTCH]
press EMG. button
[ORG-MARK-DTCH]
move at mark point
ref. 50% [ 0.00]
1DO 2BRK