Yamaha RCX142, User Manual

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Operation
11. “MANUAL” mode
11.8.2 Absolute reset on each axis
This section explains how to perform absolute reset of each axis using the robot controller.
The absolute reset method differs depending on the following settings for the “Origin
detection method” parameter.
1. Mark method
2. Stroke end or sensor method
1. When the mark method is used as the origin detection method
Return-to-origin is not performed on an axis using the mark method. So use the
movement keys while in servo-on, or direct movement while in servo-off, to move to
a position where absolute reset can be performed.
F1
F2
F4
F5
F9
F10
Valid keys
ADJ+
ADJ-
VEL+
VEL-
VEL++
VEL--
Menu Function
Moves the selected axis in the plus direction to the first position
where absolute reset is possible.
Moves the selected axis in the minus direction to the first position
where absolute reset is possible.
Increases manual movement speed for the selected robot group in steps.
(1
→
5
→
20
→
50
→
100 %)
Decreases manual movement speed for the selected robot group in steps.
(100
→
50
→
20
→
5
→
1 %)
Increases manual movement speed for the selected robot group in 1%
increments.
Decreases manual movement speed for the selected robot group in 1%
decrements.
Key operations to move to a position where absolute reset is possible
For instance, when the current axis position is
q
(machine reference: 82%):
Press the key
F 1
(ADJ. +), and the axis moves to
w
and the machine reference
will change to around 50%. (Absolute reset is now possible.)
or
Press the key
F 2
(ADJ. -), and the axis moves to
e
and the machine reference
will change to around 50%. (Absolute reset is now possible.)
Fig. 4-11-82
Minus (-) direction
Machine reference (%)
Plus (+) direction
: Range in which absolute reset can be made (44 to 56%).
0 25 50
3 1 2
75 0 25 50 75 0
n
NOTE
When the mark method is used as the
origin detection method, absolute reset
is impossible unless the machine
reference is between 44 to 56%.
w
WARNING
The robot starts to move when a
movement key is pressed. To
avoid danger, do not enter the
robot movement range.