Yamaha RCX240 User Manual page 86

4. Turning power on and off
Check that return-to-origin has been completed.
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If return-to-origin is incomplete, eliminate the problem and perform absolute reset or
return-to-origin, or perform both operations when absolute type axes and incremental
type axes exist. Then start the robot operation. (Refer to "11.9 Absolute reset" in this
chapter for how to perform absolute reset and refer to "11.8 Return-to-origin" for how to
perform return-to-origin.
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Chapter 4 OPERATION
"MANUAL" mode screen