Yamaha RCX142, User Manual

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4-
128
Operation
4
11. “MANUAL” mode
Absolute reset position and "0" pulse position
When absolute reset is performed at position A, position B (machine reference 38%) is
reset as the "0" pulse position. This means that the robot will move to the "0" pulse
position after performing absolute reset with the servo turned on.
Fig. 4-11-83
Minus (-) direction
Machine reference (%)
Plus (+) direction
: Range in which absolute reset can be made (44 to 56%).
0 25 50 75 0
B A
[Procedure]
Fig. 4-11-84
MANUAL >RST.ABS 50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
Press F.key to get axis for ABSRST
M1 = NG / Mark M5= no axis
M2 = NG / Mark M6= no axis
M3 = NG / TORQUE
M4 = OK / Mark
M1 M2 M3 M4 M5
1) In “MANUAL>RST. ABS” mode, press the
F 1
(M1) to
F 4
(M4) keys to
enter “MANUAL>RST.ABS” mode on each axis. The selected axis appears
highlighted on the MPB screen.
Fig. 4-11-85
This screen shows the following information.
MANUAL >RST.ABS>M1 50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG / 6% M5= no axis
M2 = NG / 49% M6= no axis
M3 = NG / TORQUE
M4 = OK / 72%
ADJ.+ ADJ.- VEL+ VEL-
No axis hereafter
72 Return to origin complete Axis 4
Stroke end method Origin incomplete Axis 3
49 Origin incomplete Axis 2
6 Origin incomplete Axis 1
Machine Reference Setting(%) Absolute Reset Status Axis
w
WARNING
The robot starts to move slightly
when absolute reset is
performed while the servo is on.
To avoid danger, do not enter the
robot movement range.