Omron YRCX Series, Руководство по эксплуатации

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3
Opera
tion
3-27
the initial screen.
The "ORIGIN RTN (TRQ/SENS)" screen will appear. Check the return-to-origin status.
■
"ORIGIN RTN (TRQ/SENS)" screen
Axis
Return-to-origin
complete status Return-to-origin
method
Sensor Machine reference
Axis 1 Complete Sensor method ON 0
Axis 2 Complete Sensor method ON 0
Axis 3 Complete
Torque (stroke end)
method
ON 0
Axis 4 Complete Sensor method ON 0
Subsequently, there are no axes.
5.1 Return-to-origin operation
Return-to-origin methods include the sensor method and torque (stroke end) detection method.
Each return-to-origin method is described below.
Refer to "5.3 Return-to-origin procedure" for instructions on how to perform return-to-origin.
1. Return-to-origin operation using the sensor method
1 3
2
Return-to-origin start position
Origin sensor
Return-to-origin direction
1. Before performing return-to-origin, check that all axes are in positions that allow return-to-origin.
Return-to-origin direction Position allowing return-to-origin
Minus (-) direction Plus (+) side from origin sensor position
Plus (+) direction Minus (-) side from origin sensor position
2. When a return-to-origin operation is started, each axis of the robot moves in the return-to-origin direction.
However, if the origin sensor was on when return-to-origin was started, then the robot first moves in a direction
opposite the return-to-origin direction. Then, when the origin sensor turns off, the robot stops and restarts return-to-