Yamaha RCX222, User Manual

Page: 238 / 524

4-140
Chapter
4
OPERA
TION
4-141
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
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%.
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.
w
WARNING
THE ROBOT STARTS TO MOvE WHEN A MOvEMENT KEY IS PRESSED. TO AvOID
DANGER, DO NOT ENTER THE ROBOT MOvEMENT RANGE.
Valid keys Menu Function
F1 ADJ+
Moves the selected axis in the plus direction to the first
position where absolute reset is possible.
F2 ADJ-
Moves the selected axis in the minus direction to the
first position where absolute reset is possible.
F4 VEL+
Increases manual movement speed for the selected
robot group in steps. (1 → 5 → 20 → 50 → 100%)
F5 VEL-
Decreases manual movement speed for the selected
robot group in steps. (100
→
50
→
20
→
5
→
1%)
F9 VEL++
Increases manual movement speed for the selected
robot group in 1% increments.
F10 VEL--
Decreases manual movement speed for the selected
robot group in 1% decrements.