Yamaha RCX222, User Manual

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Chapter
4
OPERA
TION
11. "MANUAL" mode
2. When the stroke end or sensor method is used as the origin detection method
When the selected axis uses the stroke end or sensor method, the servo must be
turned on to perform return-to-origin.
w
WARNING
THE ROBOT STARTS TO MOvE WHEN ABSOLUTE RESET IS PERFORMED. TO AvOID
DANGER, DO NOT ENTER THE ROBOT MOvEMENT RANGE.
n
NOTE
When the "Origin detection method" parameter is set to the stroke end
method:
Each axis moves in the specified return-to-origin direction until it reaches
the stroke end, and then moves back slightly in the opposite direction to a
position where absolute reset is performed after checking that absolute
reset is possible.
When the "Origin detection method" parameter is set to the sensor method:
Each axis moves in the specified return-to-origin direction. When the origin
sensor detects the origin, the axis moves at low speed to a position where
absolute reset is performed after checking that absolute reset is possible.
[Procedure]
1) In "MANUAL>RST. ABS" mode, press (M1) to (M4) to enter
"MANUAL>RST.ABS" mode on each axis. A confirmation message appears on the
guideline.
Press (YES) to perform absolute reset of the selected axis.
Press (NO) to cancel absolute reset of the selected axis.
■
Absolute reset of each axis (stroke end / sensor method) (1)
MANUAL >RST.ABS>M2 50% [MG] [SOHOJ]
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Starting
Reset ABS OK?
origin search
YES NO