Omron YRCX Series Operation Manual page 76

origin from that position.
3. After the origin sensor turns on, the robot stops and the origin position is then found. At this point, the current position
of each axis is set as an origin shift parameter value.
NOTE
For the sensor method, the return-to-origin starts in the origin sensor on status. When the return-to-origin operation
continues without turning off the origin sensor, "17.500: Origin sensor failure" alarm occurs.
2. Return-to-origin operation using the torque (stroke end) detection method
3
3
1. In the stroke end detection method, return-to-origin can start from any position.
2. Upon starting return-to-origin, the robot starts moving in the return-to-origin direction.
3. When the robot axis strikes and detects the stroke end, it moves back slightly and stops, and the origin position is then
determined. At this point, the current position of the axis is set as an origin shift parameter value.
CAUTION
For the stroke end method, if the robot arm interferes with an obstacle or a load is applied to the motor during
return-to-origin, the return-to-origin may complete at an incorrect position. Additionally, if the return-to-origin is
stopped during contacting the stroke end, "17.800: Motor overload" alarm may occur.
NOTE
When using "ZR stroke-end method" for return-to-origin, stroke-end method will be performed on both Z and R-axis
at the same time.
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2
Stroke end
1
Return-to-origin direction
Return-to-origin start position