Yamaha RCX40, User Manual

Page: 191 / 388

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131
4
Operation
11. “MANUAL” mode
3) Press the key and a check message appears on the guideline.
Press the
F 4
(YES) key to perform absolute reset on all axes using the mark
method.
Press the
F 5
(NO) key to cancel absolute reset on all axes using the mark
method.
Fig. 4-11-87
MANUAL >RST.ABS>ALL 50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
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
4) When absolute reset ends correctly on all axes using the mark method, a check
message appears on the guideline if axes using the stroke end or sensor methods are
present.
Press the
F 4
(YES) key to perform absolute reset on axes using the stroke end
or sensor method.
Press the
F 5
(NO) key to cancel absolute reset on axes using the stroke end or
sensor method.
Fig. 4-11-88
Reset ABS OK?
MANUAL >RST.ABS>ALL 50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
Starting origin search
YES NO
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 25 to 75%. Absolute reset
operation 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.