Yamaha RCX240, Руководство пользователя

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Chapter 4 OPERATION
11. "MANUAL" mode
Chapter 4 OPERATION
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11.9 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.
c
CAUTION
Emergency stop might be triggered if return-to-origin is simultaneously performed
on three or more axes whose return-to-origin method is the stroke end detection
method. In this case, change the setting so that stroke end return-to-origin is
simultaneously performed on two axes or is performed separately on each axis.
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.