Yamaha RCX222, Руководство пользователя

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Chapter
4
OPERA
TION
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11. "MANUAL" mode
11.8 Absolute reset
Absolute reset is an operation to find the origin position, when the position detector in the
motor cannot identify the origin position (called "origin incomplete" from now on).
Movement commands in robot language cannot be executed if the origin is incomplete.
Always perform absolute reset if the origin is incomplete.
Origin incomplete may occur due to the following conditions.
n
NOTE
• Basically, use the RPB (programming box) to perform absolute reset.
• Absolute reset can also be performed by dedicated input. However, this
technique is limited to axes using the stroke end method or sensor
method for detecting the origin. This dedicated input technique will also
not work if origin incomplete occurs on axes set by the mark method.
a. An absolute-related error occurred on the axis.
17.73:D?.Resolver wire breakage
17.91:D?.Cannot perform ABS.reset etc.
b. Absolute battery wire breakage or voltage drop was detected by the controller.
c. Cable connecting to the robot unit from the robot Controller was disconnected. (This
is the status when shipped from the factory.)
d. Robot generation was changed.
e. Parameters were initialized.
f. Axis-related parameters such as "Origin shift", "Origin detection method" and
"Origin return direction" and "Axis polarity" were changed. (This occurs when some
parameters were changed.)
g. Motor was replaced.
h. All data files (data file with extension "ALL") or parameter files (data files with
extension "PRM") were written into the robot controller.
Origin incomplete errors are listed below. These errors occur during startup of the robot
controller.
17.81:D?.ABS.battery wire breakage
17.83:D?.Backup position data error 1
17.85:D?.Backup position data error 2
17.92:D?.Resolver disconnected during power off
17.93:D?.Position backup counter overflow etc.