Yamaha RCX40, Руководство пользователя

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Operation
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 when the origin is incomplete.
Always perform absolute reset when the origin is incomplete.
Origin incomplete may occur due to the following conditions.
a. An absolute-related error occurred on the axis.
b. A power drop was detected in the absolute battery for the driver installed outside the
robot 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.
17.27:D?.ABS.backup failed (CPU)
17.80:D?.ABS.backup failed (DRIVER)
17.81:D?.ABS.battery wire breakage
17.92:D?.Resolver disconnected during power off
17.93:D?.Position backup counter overflow
17.94:D?.ABS. battery low voltage
etc.
c
CAUTION
Emergency stop may occur if absolute
reset at the stroke end is performed
for two or more axes simultaneously.
In this case, perform return-to-origin
for each axis separately instead of
simultaneously.
n
NOTE
• Basically, use the MPB (teaching
pendant) 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.