Yamaha RCX240 User Manual page 246

11. "MANUAL" mode
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NOTE
When the mark method is used as the origin detection method, absolute reset is
1
impossible unless the machine reference is between 44 to 56%.
2
3
4
Press
3
A confirmation message appears on the guideline.
Press
5
Press
If the servo is on when performing absolute reset on all axes that use the mark method,
the robot will move to the "0" pulse position after reset.
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7
8
w
WARNING
THE ROBOT STARTS TO MOVE WHEN ABSOLUTE RESET IS PERFORMED. TO AVOID
DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE.
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NOTE
An error message, "17.91:D?.Cannot perform ABS.reset" appears if the machine
reference is not within a range of 44 to 56%. Absolute reset operation then
terminates as an error.
If the robot controller is in origin incomplete due to some kind of problems, perform
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absolute reset on the axis which was unable to return to origin. After absolute reset,
always check if the axis can move to the same position as before origin incomplete.
4-168
Chapter 4 OPERATION
Absolute reset of all axes (mark method) (3)
.
(YES) to perform absolute reset on all axes using the mark method.
(NO) to cancel absolute reset.
Absolute reset of all axes (mark method) (4)