Return-To-Origin; Return-To-Origin Operation - Yamaha RCX240 User Manual

11. "MANUAL" mode

11.8 Return-to-origin

1
After the power to the controller is turned on, return-to-origin must be performed before starting
robot operation. When return-to-origin is performed, the robot arms move to their mechanical
origin positions and the position data in the controller is reset.
Return-to-origin must be performed on incremental type axes. On semi-absolute type axes, an
absolute search (also called absolute reset) is performed by return-to-origin operation (see 11.8.2).
2
The following parameters are for return-to-origin operation. For more details on each parameter,
refer to items described in "12.1 Parameters" of Chapter 4.
Category
3
Robot parameter
4
Axis parameter
5
11.8.1

Return-to-origin operation

Return-to-origin methods include the sensor method and stroke end detection method.
Each return-to-origin method is described below.
Refer to "11.8.3 Return-to-origin procedure" for instructions on how to perform returnto-origin.
6
1. Return-to-origin operation using the sensor method
7
8
q Before performing return-to-origin, check that all axes are in positions that allow return-to-
origin.
9
Return-to-origin direction
10
4-150
Chapter 4 OPERATION
Parameter name
Origin sequence
Origin speed
Origin shift
Origin method
Origin direction
Return-to-origin operation using the sensor method
e
Origin sensor
Minus (-) direction
Plus (+) direction
Sets the order in which to perform return-to-origin
or absolute search on each axis.
Sets the speed at which to perform return-to-
origin or absolute search.
Sets the offset of origin position data.
Sets the method for performing return-to-origin or
absolute search.
Sets the direction for performing return-to-origin
or absolute search.
w
q
Return-to-origin start position
Position allowing return-to-origin
Plus (+) side from origin sensor position
Minus (-) side from origin sensor position
Description
Return-to-origin direction