Yamaha RCX240, User Manual

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Chapter 5 TWO-ROBOT SETTING Chapter 5 TWO-ROBOT SETTING
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ＭＡＮＵＡＬ ＞ＲＳＴ．ＡＢＳ ５０ ／ ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］
Ａｌｉｇｎ ａｘｅｓ ｗｉｔｈ ＭＡＲＫ，＆ Ｐｒｅｓｓ ＥＮＴＥＲ．
Ｍ１＝ ＮＧ ／ ６１％
Ｍ２＝ ＮＧ ／ ＴＯＲＱＵＥ
Ｓ１＝ ＯＫ ／ ＴＯＲＱＵＥ
Ｓ２＝ ＯＫ ／ ＴＯＲＱＵＥ
ＡＤＪ．＋ ＡＤＪ．ー ＶＥＬ＋ ＶＥＬー
Ｍ１＝ ＮＧ ／ ６１％
Machine reference (%)
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 return-to-origin method displays
for axes where a method other than
the mark method is in effect.
Absolute reset on each axis (Mark method)
3
Press .
A confirmation message then appears on the guideline.
4
Press (YES) to perform absolute reset.
To abort the absolute reset operation, press (NO).
w
WARNING
SLIGHT ROBOT MOTION OCCURS WHEN AN ABSOLUTE RESET IS PERFORMED IN A
"SERVO ON" CONDITION. TO ENSURE SAFETY, BE SURE TO STAY OUT OF THE ROBOT
MOTION RANGE AT THIS TIME.
c
CAUTION
An error message, "17.91:D?.Cannot perform ABS.reset" appears if the machine
reference is not within a range of 44 to 56%. The absolute reset operation then
terminates as an error.
If the robot controller is in origin incomplete due to some kind of problem 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.
2. Operations and data when using the two-robot setting