Yamaha XY-X Series, Owner'S Manual

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Chapter 3 Preparing the Robot
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Setting the origin position
[1] For robot configured of only linear movement axis
The above type of robot uses a stroke end detection method as origin return.
The motor side stroke end is set as the origin detection position before ship-
ment from the factory. (Excluding ZH and the Z-axis of ZS, ZRS.)
! CAUTION
Avoid changing the origin position to the non-motor side as the position could
deviate, trouble could occur, and could be hazardous in some cases. Always
consult with YAMAHA when the origin position must be changed.
Refer to the following sections in the Robot Controller Instruction Manual
and set the origin.
For ERCX, SRCX, DRCX or TRCX controller
Chapter 9 > 9-1. Returning-to-the Origin > 9-1-1. Return-to-origin by the search method
For QRCX controller
Chapter 11 > 11-9. Absolute reset
For RCX40 controller
Chapter 11 > 11-8. Absolute reset
[2] When robot contains a rotary axis
Target rotary axis
RF (R-axis for SXYX/MXYX/SXYBX)
RL/RH (R-axis for HXYX)
RS (R-axis for ZRS unit)
The above rotary axes uses mark method return-to-origin.
Thus, if the robot contains this type of axis, the origin position of the rotary axis
can be set freely by the user.
Refer to the following sections in the Robot Controller Instruction Manual, move
the robot to the preferred origin, and then set the origin.
For DRCX or TRCX controller
Chapter 9 > 9-1. Returning-to-the Origin > 9-1-2. Return-to-origin by the mark method
Return the rotary axis to the origin before returning the other linear movement
axes to the origin. (Refer to section [1] above for details on returning the linear
movement axis to the origin.)
For QRCX controller
Chapter 11 > 11-9. Absolute reset
For RCX40 controller
Chapter 11 > 11-8. Absolute reset
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