Yamaha CEmarking RCX221, User Manual

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4-140
Chapter
4
OPERA
TION
11. "MANUAL" mode
11.8.3 Checking the return-to-origin status
To check the status of return-to-origin, follow the procedure below.
[Procedure]
1) In "MANUAL" mode, press (ORIGIN) to enter "MANUAL>ORIGIN" mode.
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Checking the return-to-origin status
This screen shows the following information.
MANUAL >ORIGIN 50% [MG] [SOHOJ]
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Press F.key to get axis for ORIGIN
M1 = NG / Sensor M5= no axis
M2 = / TORQUE M6= no axis
M3 =
M4 =
M1 M2 M3 M4 M5
OK
no axis
no axis
Axis Return-to-origin status
"Origin method" parameter
(SYSTEM>PARAM>AXIS mode)
M1
(Axis 1)
NG (Origin incomplete) SENSOR (Sensor method)
M2
(Axis 2)
OK (Return-to-origin complete) TORQUE (Stroke end detection method)
No axis
The above information shows return-to-origin is incomplete on axis 1, but complete on
axis 2. The robot controller is in origin incomplete status, since not all axes performed
return-to-origin.
Valid keys Menu Function
F1 M1 Performs return-to-origin on axis 1.
F2 M2 Performs return-to-origin on axis 2.
F11 ALL Performs return-to-origin on all axes.