Yamaha RCX141 User Manual page 134

11. "MANUAL" mode
c
CAUTION
• If return-to-origin is incomplete, the
soft limits do not work correctly.
• If a PHASER series robot is
operated while return-to-origin is
4
still incomplete, the necessary thrust
cannot be obtained, causing an
alarm or abnormal movement.
Always first perform return-to-
origin before starting robot
operation.
n
NOTE
When the controller is turned on, the
current position is always displayed in
"pulse" units because return-to-origin
is incomplete.
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4-
If robot movement beyond the +/- soft limits is attempted with the Jog keys, the error
message "2.1: Over soft limit" appears and the robot does not move. Likewise, if
robot movement beyond the shift coordinate range is attempted, the error message
"2.11: Exceeded shift coord. range" appears and the robot does not move.
If the current position is outside the soft limits, the error message "2.1: Over soft
limit" also appears and the robot does not move.
2. When return-to-origin is not complete
(1) When the current position is displayed in "pulse" units:
Robot movement with the Jog keys is possible the same as when return-to-origin
is complete. However, the message "0.1: Origin incomplete" appears when a Jog
key is pressed.
(2) When the current position is displayed in "mm" units:
The robot does not move with the Jog keys. The current position display
switches automatically to "pulse" units and the error message "0.1: Origin
incomplete" appears. Performs return-to-origin.