Yamaha RCX141, User Manual

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Operation
4
11. “MANUAL” mode
●
Return-to-origin operation using the stroke end detection method
Fig. 4-11-82
Return-to-origin direction
q
e
w
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.