Yamaha RCX240 User Manual page 169

2. When return-to-origin is not complete
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CAUTION
• if return-to-origin is incomplete, the soft limits do not work correctly.
• on the pHAser series robots, operating the robot while return-to-origin is still
incomplete may cause an alarm or abnormal movement because the thrust
required for operation cannot be obtained. Always perform return-to-origin
before operating the robot.
(1) When the current position is displayed in "pulse" units:
Robot movement with the Jog keys is possible the same as when return-to-origin is complete.
However, the message "0.1: Origin incomplete" appears when a Jog key is pressed.
(2) When the current position is displayed in "mm" units:
The robot does not move with the Jog keys. The current position display switches
automatically to "pulse" units and the error message "0.1: Origin incomplete" appears.
Perform absolute reset or return-to-origin at this point.
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NOTE
If return-to-origin is incomplete, the current position always appears as "pulse" units
when the controller is turned on.
11. "MANUAL" mode
Chapter 4 OPERATION
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