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2.4.2.4
Absolute reset in ser vo off state (new reset)
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WARNING
BE SURE TO PRESS THE EMERGENCY STOP BUTTON AND MOvE THE ROBOT IN THE STATE WHERE THE SERvO ON
CANNOT BE OPERATED FROM THE OUTSIDE.
n
NOTE
• When pressing the
• For details about how to operate the robot controller, see the "YAMAHA Robot Controller User's Manual".
Turn on the controller.
1
Check that no one is inside the safety enclosure, and then turn on the controller.
Place a sign indicating the robot is being adjusted.
2
Place a sign indicating the robot is being adjusted, to keep others from operating the controller or
operation panel.
Enter the safety enclosure.
3
Enter the safety enclosure while holding the PBX.
Display the "ORIGIN RTN (TRQ/SENS)" screen on the PBX (operation → return-
4
to-origin).
Display the "ORIGIN RTN (MARK)" screen.
5
Press
(MARK) on the "ORIGIN RTN (TRQ/SENS)" screen.
Move the arm to the position where the origin position marks are matched with
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each other.
Press the emergency stop button on the PBX to put the robot in the emergency stop state.
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WARNING
BE SURE TO PRESS THE EMERGENCY STOP BUTTON AND MOvE THE ROBOT IN THE STATE WHERE THE SERvO ON
CANNOT BE OPERATED FROM THE OUTSIDE.
Manually move the robot to a position where the return-to-origin is performed.
Check the machine reference value.
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When the robot is moved to a position where the absolute reset is performed, check that the value of
the selected axis is in the range between 26 and 74 on the PBX screen. (Normally, this value is 50.)
Select an axis whose absolute reset is performed.
8
Use the cursor keys (
press
.
The execution confirmation screen will pop up.
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CAUTION
• There are multiple discrete positions where the absolute reset can be performed. Move the robot step-by-step
while referring to the PBx screen. When the robot comes to a position near the absolute reset position where
the value of the selected axis on the PBX screen enters the range between 26 and 74, press the
• If the value of the selected axis is not in the range between 26 and 74, the message, "Position reset malposition",
appears in the next operation and the return-to-origin cannot be completed.
Perform the absolute reset.
9
Press
on the "ORIGIN RTN (MARK)" pop-up screen to complete the absolute reset.
After the absolute reset has been completed, the axis moves to the "0" pulse position.
Move the robot to the all-axis 0 pulse position.
When the absolute reset has been completed, move the robot to the all-axis 0 pulse position. For details
about how to move to the 0 pulse position, refer to the "YAMAHA Robot Controller User's Manual".
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CAUTION
Before affixing the origin position stickers, be sure to move the robot to the all axes "0" pulse position. If the robot
is not moved to this position, the next absolute reset may not be performed correctly.
key on the execution confirmation screen, the execution of the absolute reset is canceled.
/
) to select an axis number whose absolute reset is performed, and then
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key.
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