Yamaha CEmarking RCX221, User Manual

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4-141
Chapter
4
OPERA
TION
11. "MANUAL" mode
11.8.4 Return-to-origin on each axis
This section explains how to perform return-to-origin on each axis specified by the controller.
The robot must be at servo-on to perform return-to-origin on incremental mode axes using
the stroke end detection method or sensor method for return-to-origin. Likewise, the robot
must be at servo-on to perform an absolute search on semi-absolute mode axes.
[Procedure]
c
CAUTION
Before performing return-to-origin, check that the target axis is in a position
that allows return-to-origin operation.
1) In "MANUAL>ORIGIN" mode, press (M1) or (M2) to select the axis to
perform return-to-origin.
A confirmation message appears on the guide line in the programming box screen.
Press (YES) to perform return-to-origin on the selected axis.
Press (NO) to cancel return-to-origin on the selected axis.
■
Return-to-origin on selected axis (1)
50%[MG][S0H0J] MANUAL >ORIGIN>M1 >M1
Origin return again? YES NO
w
WARNING
THE ROBOT STARTS MOVING AS SOON AS RETURN-TO-ORIGIN IS PERFORMED.
TO AVOID HAZARDOUS SITUATIONS, DO NOT ENTER THE ROBOT MOVEMENT
RANGE.
2) After return-to-origin (absolute search on semi-absolute mode axes) is complete, the
machine reference on the selected axis is displayed.
■
Return-to-origin on selected axis (2)
50%[MG][S0H0J] MANUAL >ORIGIN
Machine reference (%)
M1= 50 M2= 50
M1 M2 M3 M4 M5