Yamaha RCX240, Руководство пользователя

Страница: 235 / 620

4-156
Chapter 4 OPERATION
4
1
2
3
5
6
7
8
9
10
Chapter 4 OPERATION
4-157
11. "MANUAL" mode
11.9.1 Checking absolute reset
To check the absolute reset status of each axis on the controller, press (RST.ABS) in
"MANUAL" mode. The "MANUAL>RST.ABS" mode screen appears as shown below. Check the
absolute reset status of each axis.
1. When all axes are absolute type axes:
ＭＡＮＵＡＬ ＞ＲＳＴ．ＡＢＳ ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］
Ｐｒｅｓｓ Ｆ．ｋｅｙ ｔｏ ｇｅｔ ａｘｉｓ ｆｏｒ ＡＢＳＲＳＴ
Ｍ１＝ ＮＧ ／ Ｓｅｎｓｏｒ Ｍ５＝ ｎｏ ａｘｉｓ
Ｍ２＝ ＮＧ ／ Ｓｅｎｓｏｒ Ｍ６＝ ｎｏ ａｘｉｓ
Ｍ３＝ ＮＧ ／ ＴＯＲＱＵＥ
Ｍ４＝ ＯＫ ／ Ｓｅｎｓｏｒ
Ｍ１ Ｍ２ Ｍ３ Ｍ４ Ｍ５
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
This screen shows the following information.
Checking absolute reset status (when all axes are absolute type axes)
Axis Absolute Reset Status "Origin method" of Axis Parameter
Axis 1 Origin incomplete Sensor method
Axis 2 Origin incomplete Sensor method
Axis 3 Origin incomplete Stroke end method
Axis 4 Return-to-origin complete Sensor method
No axis
The above RPB screen shows the return-to-origin is incomplete on axis 1, axis 2 and axis 3 but
complete on axis 4. The robot controller is in origin incomplete status, since not all axes
performed return-to-origin.