Yamaha RCX240, User Manual

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Chapter 4 OPERATION
11. "MANUAL" mode
Chapter 4 OPERATION
4-155
11.8.3 Return-to-origin procedure
The robot must be at servo-on to perform return-to-origin on incremental type axes using the stroke
end detection method or sensor method for return-to-origin. Likewise, the robot must be at servo-
on to perform an absolute search on semi-absolute type axes.
c
CAUTION
Before performing return-to-origin, check that incremental type axes are in positions
that allow return-to-origin operation.
w
WARNING
THE ROBOT STARTS MOVING AS SOON AS RETURN-TO-ORIGIN IS PERFORMED. TO
AVOID HAzARDOUS SITUATIONS, DO NOT ENTER THE ROBOT MOVEMENT RANGE.
c
CAUTION
Emergency stop might be triggered if return-to-origin or absolute search is
simultaneously performed on three or more axes whose return-to-origin method is
the stroke end detection method. In this case, change the setting so that stroke end
return-to-origin or absolute search is simultaneously performed on two axes or is
performed separately on each axis.
n
NOTE
When two robots are specified, return-to-origin is first performed on the main group
and then on the sub group.
1
In "MANUAL" mode, press (ORIGIN).
A confirmation message appears on the guideline.
Press (YES) to perform return-to-origin.
Press (NO) to cancel return-to-origin.
ＭＡＮＵＡＬ ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］
Ｃｕｒｒｅｎｔ ｐｏｓｉｔｉｏｎ
＊Ｍ１＝ ２１５９３＊Ｍ２＝ ８２１６＊Ｍ３＝ ６８４６８
Ｏｒｉｇｉｎ ｒｅｔｕｒｎ ａｇａｉｎ？ ＹＥＳ ＮＯ
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
Return-to-origin procedure (1)
To stop the return-to-origin operation, press the .
In this case, the message "0.14: Stop executed" appears on the message line.