Return To Origin (Incremental Specification) - Yamaha PHASER MF User Manual

Notes on robot operation
1.3

Return to origin (incremental specification)

Origin position
■
• On the incremental specification, return-to-origin must be performed after turning
power on before starting operation. Magnetic poles are also detected during return-
to-origin. Once return-to-origin is completed, there is no need to perform it again
unless the controller power is turned off or an error occurs.
• There are two positions at which the origin can be set. These are located one
each on both ends of the stroke. Refer to the outline dimension drawings shown
3
in Chapter 7, "Specifications". Unless specified otherwise, the origin position is
set on the L side prior to shipment. The origin position can be set on the R side
by changing the parameter. (See the separate "SR1 Controller User's Manual" for
information on changing the parameter.)
L side
L side
Return-to-origin operation
■
• Return-to-origin speed is set at 20 (mm per second) prior to shipment. This speed
can be changed in increments of 1 to 100 (mm per second) by parameter entry.
• Return-to-origin sequence: Robot moves as follows by entering a return- to-origin
(1) Slider moves in the specified return-to-origin direction at a speed set by the
parameter.
L side
3-2
Return-to-origin direction
: Magnetic pole detection point
Slider
Cable carrier
: Magnetic pole detection point
command or a return-to-origin operation from the HPB.
Return-to-origin direction
: Magnetic pole detection point
R side
R side
R side