Yamaha RCX141, Руководство пользователя

Страница: 186 / 402

4-
128
Operation
4
11. “MANUAL” mode
●
Sensor method: When the origin sensor turns on during absolute search
●
Stroke end detection method: When the stroke end is detected during absolute search
Fig. 4-11-84
Return-to-origin direction
A
Origin sensor turns on or stroke end is detected.
q
w
Max. 76mm
e
Absolute search start position
Stop position
B
q
Upon starting return-to-origin, the robot moves in the return-to-origin direction to
start an absolute search.
w
In the sensor method, when the origin sensor turns on (position A), the robot moves
back toward position B. In the stroke end detection method, when stroke end is
detected (position A), the robot moves back toward position B. At this point, the
maximum distance that the robot moves from position A to position B is 76mm.
e
The robot again moves in the return-to-origin direction, determines the current position,
and then stops. The stop position will be between position A and position B.
n
NOTE
If the origin sensor was on when the
robot was at the absolute search start
position, the robot moves in a direction
opposite the return-to-origin direction
to perform an absolute search.
(Operation starts from
w
shown on
the right.)
c
CAUTION
During stroke end detection, if
absolute search operation is
interrupted while the robot arm is still
contacting the stroke end, then an
error "17.4:D?, Overload" might
occur.