Yamaha RCX40, User Manual

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129
4
Operation
11. “MANUAL” mode
11.8.3 Absolute reset on all axes
This section explains how to perform absolute reset on all axes of the robot controller.
The sequence for performing absolute reset of the axes is given below.
1. First, perform absolute reset at the current position, on all axes that use the
mark method.
2. Next, perform absolute reset according to the return-to-origin sequence on axes
using the stroke end and sensor methods.
Cursor key
(
↑
/
↓
)
F1
F2
F4
F5
F9
F10
Valid keys
ADJ.+
ADJ.-
VEL+
VEL-
VEL++
VEL--
Menu Function
Specifies the axis definition number.
Moves the selected axis in the plus direction to the first position
where absolute reset is possible.
Moves the selected axis in the minus direction to the first position
where absolute reset is possible.
Increases manual movement speed for the selected robot group in steps.
(1
→
5
→
20
→
50
→
100 %)
Decreases manual movement speed for the selected robot group in steps.
(100
→
50
→
20
→
5
→
1 %)
Increases manual movement speed for the selected robot group in 1%
increments.
Decreases manual movement speed for the selected robot group in 1%
decrements.
Key operations to move to a position where absolute reset is possible
For instance, when the current axis position is
q
(machine reference: 82%):
Press the
F 1
key (ADJ. +), and the axis moves to
w
and the machine reference
will change to around 50%. (Absolute reset is now possible.)
or
Press the
F 2
key (ADJ. -), and the axis move to
e
and the machine reference will
change to around 50%. (Absolute reset is now possible.)
Fig. 4-11-84
Minus (-) direction
Machine reference (%)
Plus (+) direction
: Range in which absolute reset can be made (25 to 75%).
0 25 50
e q w
75 0 25 50 75 0