Yamaha DRCX, Руководство пользователя

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ROBOT LANGUAGE
8-4 Robot Language Description
8-4-29 ORGN
Function: Performs return-to-origin when the search method is selected as the ori-
gin detection method, or checks whether return-to-origin has been per-
formed when the mark method is selected.
Format: ORGN [<axis>]
Example: ORGN 1
Returns only the X-axis to its origin position.
ORGN
Returns all axes to their origin positions.
Explanation: Return-to-origin is performed based on the return-to-origin parameter
data when the search method is selected as the origin detection method.
When the mark method is selected, this command checks whether re-
turn-to-origin has been performed and proceeds to the next step when it
has been performed, but halts the operation as an error if not performed.
(1) Axis
"0" means all axes, "1" means the X-axis, and "2" means the Y-axis.
If this setting is omitted, return-to-origin is performed on all axes.
Others: • When the mark method is used for one axis and the search method for
the other axis, then return-to-origin on the axis using the mark method
must first be completed before performing return-to-origin on the axis
using the search method. Use the TPB to perform return-to-origin on
the axis using the mark method.
• Once return-to-origin is performed after the robot cable and absolute
battery are connected, there is no need to repeat it even when the con-
troller is turned off. (As an exception, return-to-origin becomes in-
complete if the absolute backup function is disabled or a parameter
relating to the origin is changed. Return-to-origin must be reperformed
in this case.)
• When performing return-to-origin by the stroke-end detection method,
do not interrupt the return-to-origin operation while detecting the ori-
gin (while contacting the mechanical limit). Otherwise, the operation
will stop due to a controller overload alarm and the power will have to
be turned on again.
• If return-to-origin must be repeated by the stroke-end detection method,
wait at least 5 seconds before repeating it.
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