Yamaha RCX240, User Manual

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Chapter 4 OPERATION
12. "SYSTEM" mode
Chapter 4 OPERATION
4-287
Example: Robot : SXYx 2-axis specifications
m3-axis : Electric gripper
Individual axis return-to-origin setting
"1. Main ROB. indiv. origin"
: VALID
"2. Axes sel. port (DI & SI)" : 2
"3. Done output port (DO & SO)" : 2
Operation conditions: MANUAL mode and servo ON
on
off
on
off
on
off
Move
Stop
Individual axis
return-to-origin complete
DO20
Interlock
DI11
on
off
Axis selection (M1-axis)
DI20
Absolute reset
DI17
Robot axis status
*1
*2
a) b) c) d) e) f) g) h) i) j) k) l) m) n) o)
M1-axis absolute reset processing
Normal operation
a) Axis selection input turns on.
b) Absolute reset input turns on.
c) Robot M1-axis starts moving to its origin position.
d) Absolute reset input turns off.
e) Axis selection input turns off.
f) Robot M1-axis completes the movement to its origin position.
g) Individual axis return-to-origin complete output turns on.
Stop operation during movement
h) Axis selection input turns on.
i) Absolute reset input turns on.
j) Robot M1-axis starts moving to its origin position.
k) Absolute reset input turns off.