Yamaha CEmarking RCX221, Руководство пользователя

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Chapter
4
OPERA
TION
11. "MANUAL" mode
11.8 Return-to-origin
After the power to the controller is turned on, return-to-origin must be performed before
starting robot operation. When return-to-origin is performed, the robot arms move to their
mechanical origin positions and the position data in the controller is reset.
Return-to-origin must be performed on incremental mode axes. On semi-absolute mode
axes, an absolute search (also called absolute reset) is performed by return-to-origin
operation (see 11.8.2).
The following parameters are for return-to-origin operation. For more details on each
parameter, refer to items described in "12.1 Parameters" of chapter 4.
Category Parameter name Description
Robot parameter Origin sequence
Sets the order in which to perform return-
to-origin or absolute search on each axis.
Axis parameter
Origin speed
Sets the speed at which to perform return-
to-origin or absolute search.
Origin shift Sets the offset of origin position data.
Origin method
Sets the method for performing return-to-
origin or absolute search.
Origin direction
Sets the direction for performing return-to-
origin or absolute search.
11.8.1 Return-to-origin operation
Return-to-origin methods include the sensor method and stroke end detection method.
Each return-to-origin method is described below.
Refer to "11.8.3 Return-to-origin procedure" for instructions on how to perform return-to-origin.
●
Return-to-origin operation using the sensor method
■
Return-to-origin operation using the sensor method
Return-to-origin direction
: .
@
Return-to-origin start position
Origin sensor
q
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