Yamaha DRCX User Manual page 196

7) 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.)
8) When you press
the mark position by the teaching playback
method or direct teaching method, the screen
changes to allow entering the coordinate val-
ues for the mark position. (The display at the
right shows an example when the X-axis was
selected in step 3.)
While checking the robot stays at the mark po-
sition, use the number keys to enter the coordi-
nate values that you want the controller to rec-
ognize as the current position, and then press
.
9) Press F1 (yes) to set the origin. To cancel,
press (no).
F2
10)If the machine reference is not in a range from
25 to 75%, the message at the right appears in-
forming you that the origin cannot be set. In
this case, press
cedure.
11)When the origin has been set correctly, the
message at the right appears. Pressing the
key returns to step 5 when the teaching play-
back method was used or to step 7 when the
direct teaching method was used.
n
NOTE
When you check the robot position after setting the mark position coordinates, the robot position is not always at
the coordinates specified as the mark position. This is because the mark position is synchronized to prevent
positional shift and make an exact match when the motor's electrical angle is "0".
When the motor's electrical angle is "0", the machine reference is just 50%. This means that as the machine
reference deviates from 50%, the robot position moves away from the coordinates specified as the mark position.
c
CAUTION
When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE
mode function".)
• Robot 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.
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.
after moving the robot to
and retry the above pro-
ESC
ESC
9-1 Performing Return-to-Origin
[ORG-MARK-DTCH]
move at mark point
ref. 50% [ 0.00]
1DO 2BRK
[ORG-MARK-TCH]
X axis
input mark position
[ _ ][mm]
[ORG-MARK-TCH]
ORG mark OK ?
1yes 2no
[ORG-MARK-TCH]
cannot set origin
as bad machine ref.
[ORG-MARK-TCH]
origin complete
9
5
9-