Yamaha FLIP-X Series, User Manual

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Chapter 2 Installation and Connections
2-25
WARNING
Always turn off the power to the controller before making the ground connection.
Provide a terminal marked “PE” as the protective conductor for the entire system, and connect it
to an external protective conductor. Also securely connect the ground terminal on the robot frame
to the protective conductor.
(Symbol 417-IEC5019)
●
Origin position
The Flip-X series uses the absolute method so performing return-to-origin is not necessary after
the power is turned on. However, data containing the origin position may be lost if the absolute
battery is removed from the controller or the battery dies. When this happens, origin return (or
origin reset) must be performed after the battery is reconnected. The R5, R10 and R20 robots
utilize the mark method (refer to controller manual) that does not use sensors. Use a triangular
seal enclosed in the package to affix it at the desired position, and perform origin return (or origin
reset). When the next time origin return is required, this seal can be used as the matching mark to
ensure reproducibility. We recommend affixing the seal as far away from the R5, R10 and R20
shaft center as possible to achieve high reproducibility.