Yamaha ERCX Series, User Manual

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8-
16
ROBOT LANGUAGE
8-4 Robot Language Description
8
8-4-17 ORGN
Function: Performs return-to-origin when the search method is selected as the ori-
gin detection method, or checks whether return-to-origin has been per-
formed when the mark method is selected.
Format: ORGN
Example: ORGN
Performs return-to-origin when the search method is selected as the ori-
gin detection method, or checks whether return-to-origin has been per-
formed when the mark method is selected.
Explanation: Return-to-origin is performed based on the return-to-origin parameter
data when the search method is selected as the origin detection method.
When the mark method is selected, this command checks whether re-
turn-to-origin has been performed and proceeds to the next step when it
has been performed, but halts the operation as an error if not performed.
Others: • Once return-to-origin is performed after the robot cable and absolute
battery are connected, there is no need to repeat it even when the con-
troller is turned off. (As an exception, return-to-origin becomes in-
complete if the absolute backup function is disabled or a parameter
relating to the origin is changed. Return-to-origin must be reperformed
in this case.)
• When performing return-to-origin by the stroke-end detection method,
do not interrupt the return-to-origin operation while detecting the ori-
gin (while contacting the mechanical limit). Otherwise, the operation
will stop due to a controller overload alarm and the power will have to
be turned on again.
• If return-to-origin must be repeated by the stroke-end detection method,
wait at least 5 seconds before repeating it.