Yamaha RCX222, User Manual

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4-142 4-143
Chapter
4
OPERA
TION
11. "MANUAL" mode
2) In Servo-ON
Use the Jog keys or (ADJ.+) and (ADJ.-) to move the selected axis to a
position where absolute reset is possible. Set so that the machine reference is within a
range of 44 to 56%.
w
WARNING
THE ROBOT STARTS TO MOvE WHEN A JOG KEY OR MOvEMENT KEY IS
PRESSED. TO AvOID DANGER, DO NOT ENTER THE ROBOT MOvEMENT RANGE.
c
CAUTION
An error message, "17.91:D?.Cannot perform ABS.reset" appears if the
machine reference is not within a range of 44 to 56%. The absolute reset
operation then terminates as an error.
If the robot controller is in origin incomplete due to some kind of problem
perform absolute reset on the axis which was unable to return to origin. After
absolute reset, always check if the axis can move to the same position as
before origin incomplete.
■
Absolute reset of each axis (mark method) (3)
MANUAL >RST.ABS>M1 50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG / 50% M5= no axis
M2 = / M6= no axis
no axis
no axis
M3 =
M4 =
OK 72%
ADJ.+ ADJ.- VEL+ VEL-
In Servo-OFF
Check that the emergency stop button on the RPB is on, and move the selected axis
by direct movement to a position for absolute reset. Set so that the machine reference
is within a range of 44 to 56%.
w
WARNING
WHEN YOU PERFORM DIRECT TEACHING, MAKE SURE THAT THE EMERGENCY
STOP BUTTON IS PRESSED SO THAT THE SERvO WILL NOT TURN ON.