Operation When Not Using Absolute Function - Yamaha ERCX Series User Manual

16-1 Operation When Not Using Absolute Function

16
2
16-
16-1 Operation When Not Using Absolute Function
An absolute backup function is standard on the ERCX controllers. This means return-to-origin is
unnecessary each time the controller is turned on.
In some cases, however, the absolute function is not needed because the customer is accustomed to
always performing return-to-origin when the power is turned on. In other cases the absolute function
may not be needed because the current sequence system can be used to automatically perform return-
to-origin when the power is turned on.
In such kind of cases where the absolute function is not needed, use the following procedure to
operate the controller with the absolute battery removed.
(1) Set bit 4 to 0 in PRM34 (system mode selection parameter) to disable the absolute backup
function.
Bit 4 is set to 1 as the default value so that PRM34 = 16. If bits other than bit 4 can stay the
default value without causing problems, just enter 0 in PRM34.
(See "PRM34: System mode selection" )
(2) Turn off power to the controller and remove the absolute battery from the controller.
* Once the absolute backup function has been disabled, always be sure to perform return-to-
origin when the controller power is turned on.
* Even if the absolute battery is removed, the various data such as the program, point data, and
parameters stored inside the controller will not be lost.
(The various data such as the program, point data, and parameters are retained by a system
backup battery inside the controller. The absolute battery is used to hold the robot position data
when the controller power is off.)