Yamaha RCX240, User Manual

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Chapter 5 TWO-ROBOT SETTING Chapter 5 TWO-ROBOT SETTING
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n
NOTE
If teach points are not accurately determined, the hand definition will be
inaccurate, so always determine these points correctly.
2.2.8 Absolute reset
The "absolute reset" function is used to teach the origin position when the motor's position sensor
cannot identify the origin position (a condition hereafter referred to as "origin incomplete").
When an origin incomplete status occurs, all robot language executed motion commands are
disabled. In such a case, an absolute reset must be performed.
n
NOTE
For "Absolute reset" details, also see "11.9 Absolute reset" in Chapter 4.
2.2.8.1 Checking absolute reset status
This function allows checking the absolute reset status of each axis on the controller.
n
NOTE
For checking absolute reset status details, also see "11.9.1 Checking absolute reset"
in Chapter 4.
In "MANUAL" mode, pressing (ABS.RST) displays the absolute reset status.
ＭＡＮＵＡＬ ＞ＲＳＴ．ＡＢＳ ５０ ／ ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］
Ｐｒｅｓｓ Ｆ．ｋｅｙ ｔｏ ｇｅｔ ａｘｉｓ ｆｏｒ ＡＢＳＲＳＴ
Ｍ１＝ ＮＧ ／ ＴＯＲＱＵＥ
Ｍ２＝ ＮＧ ／ ＴＯＲＱＵＥ
Ｓ１＝ ＯＫ ／ ＴＯＲＱＵＥ
Ｓ２＝ ＯＫ ／ ＴＯＲＱＵＥ
Ｍ１ Ｍ２ Ｓ１ Ｓ２
Ｍ１＝ ＮＧ ／ ＴＯＲＱＵＥ
Return-to-origin method:
TORQUE ...Stroke end detection method
SENSOR ...Sensor method
MARK
...Mark method
Axes:
M? ...Main robot axes
S? ...Sub robot axes
m? ...Main auxiliary axes
s? ...Sub auxiliary axes
Absolute reset statuses:
OK ...Return-to-origin complete status
NG ...Origin incomplete status
* The display content varies depending on the robot and axes setting status.
Checking absolute reset
2. Operations and data when using the two-robot setting