Checking The Return-To-Origin Status - Yamaha RCX221 User Manual

11. "MANUAL" mode
11.8.3
To check the status of return-to-origin, follow the procedure below.
[Procedure]
1) In "MANUAL" mode, press

■ Checking the return-to-origin status

This screen shows the following information.
Chapter
MANUAL
4
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Press F.key to get axis for ORIGIN
M1 = NG / Sensor
M2 =
M3 =
M4 =
M1
Axis
(Axis 1)
(Axis 2)
No axis
The above information shows return-to-origin is incomplete on axis 1, but complete on
axis 2. The robot controller is in origin incomplete status, since not all axes performed
return-to-origin.
Valid keys
F11
4-140

Checking the return-to-origin status

>ORIGIN
OK
/ TORQUE
no axis
no axis
M2 M3
Return-to-origin status
M1
NG (Origin incomplete)
M2
OK (Return-to-origin complete)
Menu
F1 M1 Performs return-to-origin on axis 1.
F2 M2 Performs return-to-origin on axis 2.
ALL Performs return-to-origin on all axes.
(ORIGIN) to enter "MANUAL>ORIGIN" mode.
50% [MG] [SOHOJ]
M5= no axis
M6= no axis
M4 M5
"Origin method" parameter
(SYSTEM>PARAM>AXIS mode)
SENSOR (Sensor method)
TORQUE (Stroke end detection method)
Function