Yamaha YP-X Series, Owner'S Manual

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[2] R axis
On the above robots, the customer should set the origin at the desired position.
Move the robot to the desired position and set it as the origin while referring to the
following section in the robot controller instruction manual.
When using DRCX or TRCX controllers:
See “9-1-1 Return-to-origin by the search method” in Chapter 9.
When using a QRCX controller:
See “11-9 Absolute Reset” in Chapter 11.
After setting the origin position, affix the stickers (triangular stickers supplied with the
robot) to both the tool side and workpiece side so that they can be used as the alignment
marks. Use these marks as the reference position the next time the origin must be set.