Yamaha CEmarking RCX221, User Manual

Page: 152 / 468

4-84
Chapter
4
OPERA
TION
11. "MANUAL" mode
2. When return-to-origin is not complete
c
CAUTION
• If return-to-origin is incomplete, the soft limits do not work correctly.
• If a PHASER series robot is operated while return-to-origin is still
incomplete, the necessary thrust cannot be obtained, causing an alarm
or abnormal movement.
Always fi rst perform return-to-origin before starting robot operation.
n
NOTE
If return-to-origin is incomplete, the current position always appears as
"pulse" units when the controller is turned on.
(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. Performs return-to-origin.