Yamaha CEmarking RCX221, User Manual

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4-137
Chapter
4
OPERA
TION
11. "MANUAL" mode
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.
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Return-to-origin operation using the stroke end detection method
■
Return-to-origin operation using the stroke end detection method
Return-to-origin direction
:
.
@
Return-to-origin start position
Stroke end
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.