Yamaha RCX240, User Manual

Page: 246 / 620

4
1
2
3
5
6
7
8
9
10
4-168
Chapter 4 OPERATION
11. "MANUAL" mode
Chapter 4 OPERATION
4-169
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%.
ＭＡＮＵＡＬ ＞ＲＳＴ．ＡＢＳ＞ＡＬＬ ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］
Ａｌｉｇｎ ａｘｅｓ ｗｉｔｈ ＭＡＲＫ，＆ Ｐｒｅｓｓ ＥＮＴＥＲ
Ｍ１＝ ＮＧ ／ ５０％ Ｍ５＝ ｎｏ ａｘｉｓ
Ｍ２＝ ＮＧ ／ ４９％ Ｍ６＝ ｎｏ ａｘｉｓ
Ｍ３＝ ＮＧ ／ ＴＯＲＱＵＥ
Ｍ４＝ ＯＫ ／ ７２％
ＡＤＪ．＋ ＡＤＪ．− ＶＥＬ＋ ＶＥＬ−
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
Absolute reset of all axes (mark method) (3)
3
Press .
A confirmation message appears on the guideline.
Press (YES) to perform absolute reset on all axes using the mark method.
Press (NO) to cancel absolute reset.
If the servo is on when performing absolute reset on all axes that use the mark method,
the robot will move to the "0" pulse position after reset.
ＭＡＮＵＡＬ ＞ＲＳＴ．ＡＢＳ＞ＡＬＬ ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］
Ａｌｉｇｎ ａｘｅｓ ｗｉｔｈ ＭＡＲＫ，＆ Ｐｒｅｓｓ ＥＮＴＥＲ
Ｍ１＝ ＮＧ ／ ５０％ Ｍ５＝ ｎｏ ａｘｉｓ
Ｍ２＝ ＮＧ ／ ４９％ Ｍ６＝ ｎｏ ａｘｉｓ
Ｍ３＝ ＮＧ ／ ＴＯＲＱＵＥ
Ｍ４＝ ＯＫ ／ ７２％
Ｒｅｓｅｔ ＡＢＳ ＯＫ？ ＹＥＳ ＮＯ
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
Absolute reset of all axes (mark method) (4)
w
WARNING
THE ROBOT STARTS TO MOVE WHEN ABSOLUTE RESET IS PERFORMED. TO AVOID
DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE.
n
NOTE
An error message, "17.91:D?.Cannot perform ABS.reset" appears if the machine
reference is not within a range of 44 to 56%. Absolute reset operation then
terminates as an error.
If the robot controller is in origin incomplete due to some kind of problems, 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.