Yamaha RCX240 User Manual page 229

w Upon starting return-to-origin, the robot starts moving in the return-to-origin direction.
However, if the origin sensor was on when return-to-origin was started, then the robot first
moves in a direction opposite the return-to-origin direction. Then, when the origin sensor
turns off, the robot stops and restarts return-to-origin from that position.
e After the origin sensor turns on, the robot stops and the origin position is then found. At this
point, the position where the robot stopped is set as an origin shift parameter value.
n
NOTE
In the sensor method, if return-to-origin is started with the origin sensor turned on
and continues without the origin sensor being turned off, then an error "17.21:Bad
origin sensor" will occur.
2. Return-to-origin operation using the stroke end detection method
Return-to-origin operation using the stroke end detection method
e
q In the stroke end detection method, return-to-origin can start from any position.
w Upon starting return-to-origin, the robot starts moving in the return-to-origin direction.
e When the robot arm lightly strikes and detects the stroke end (mechanical stop), it moves
back slightly and stops, and the origin position has now been found. At this point, the
position where the robot stopped is set as an origin shift parameter value.
c
CAUTION
During stroke end detection, if the robot arm movement is obstructed or a load is
applied to the robot arm during return-to-origin, the stroke end might not be
detected accurately so return-to-origin ends at an incorrect position. If return-to-
origin is interrupted while the robot arm is still contacting the stroke end, then an
error "17.4:D?, Overload" might occur.
w
Stroke end
11. "MANUAL" mode
q
Return-to-origin direction
Return-to-origin start position
Chapter 4 OPERATION
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