Yamaha RCX240, Руководство пользователя

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Chapter 4 OPERATION
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Chapter 4 OPERATION
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11. "MANUAL" mode
3
Check the machine reference.
After return-to-origin (absolute search on semi-absolute type axes) is complete, the
machine reference for each axis is displayed. Check that the machine reference is
within the allowable range.
ＭＡＮＵＡＬ ＞ＲＳＴ．ＡＢＳ ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］
Ｍａｃｈｉｎｅ ｒｅｆｅｒｅｎｃｅ（％）
Ｍ３＝ ４９
Ｍ１ Ｍ２ Ｍ３ Ｍ４ Ｍ５
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
Absolute reset of each axis (stroke end / sensor method) (2)
4
Check the message line display.
When all axes have returned to origin, the dashed line (- - - -) on the message line
changes to a solid line (——), and return-to-origin is now complete. Then, press an axis
movement key and the RPB screen displays the current position of each axis.
When origin incomplete status cannot be cancelled, this means that incremental type
axes exist, but return-to-origin has not yet been completed on those axes. Perform
return-to-origin on those axes.
11.9.3 Absolute reset on all axes
This section explains how to perform absolute reset on all axes of the robot controller. The
sequence for performing absolute reset of the axes is given below.
1. First, perform absolute reset at the current position, on all axes that use the mark method.
2. Next, perform absolute reset according to the return-to-origin sequence on axes using the
stroke end and sensor methods.
Valid keys Menu Function
/ Specifies the axis definition number.
ADJ.+
Moves the selected axis in the plus direction to the first
position where absolute reset is possible.
ADJ.-
Moves the selected axis in the minus direction to the
first position where absolute reset is possible.
VEL+
Increases manual movement speed for the selected
robot group in steps. (1
→
5
→
20
→
50
→
100 %)
VEL-
Decreases manual movement speed for the selected
robot group in steps. (100
→
50
→
20
→
5
→
1 %)
*1
VEL++
Increases manual movement speed for the selected
robot group in 1% increments.
*1
VEL--
Decreases manual movement speed for the selected
robot group in 1% decrements.
*1: To use to , press to while holding down .