3
Opera
tion
3-26
5. Origin return
Before turning on the power to start the robot operation, it is necessary to set the origin point that becomes
the reference for the robot operation.
For absolute type axes, it is necessary to set the origin position only when the robot is put in the return-to-
origin incomplete status.
The origin position setting procedure is classified as follows according to the return-to-origin methods and
robot axis specifications.
Return-to-origin
method
Axis specifications
Return-to-origin type
Return-to-origin when the power
is turned on again.
Torque (stroke end) /
sensor
Absolute specifications
Return-to-origin
Unnecessary
Incremental specifications
Necessary
Mark
Absolute specifications
Absolute Reset
Unnecessary
Incremental specifications
Necessary
*Regardless of the return-to-origin method, the status, in which the origin point that becomes the reference
for the robot operation is set, is called "return-to-origin complete status". The status, in which the origin point
is not set, is called "return-to-origin incomplete status".
Parameters related to the return-to-origin are available as shown below. For details about each parameter, refer
to the YRCX user's manual.
Category
Parameter name
Description
Robot parameter
Origin sequence
Sets the order in which to perform return-to-origin or absolute search on each axis.
Axis parameter
Origin speed
Sets the speed at which to perform return-to-origin or absolute search.
Origin shift
Sets the offset of origin position data.
Origin method
Sets the method for performing return-to-origin or absolute search.
Origin direction
Sets the direction for performing return-to-origin or absolute search.
The return-to-origin incomplete status occurs in the following cases.
a. An absolute related alarm occurs in the axis.
17.403 Position reset malposition
17.905 Resolver wire breakage
b. The controller detects the faulty wiring or voltage drop of the absolute battery.
c. The cable that connects the controller and robot main unit is disconnected.
(The robot is in this status at controller shipment.)
d. The robot generation is changed.
e. The parameters are initialized.
f. The origin shift of the axis parameter, return-to-origin method, return-to-origin direction, and axis polarity are changed.
(The robot enters this status when a part of the parameters are changed.)
g. The motor is replaced.
h. All data file (extension is ALL data) or parameter file (extension is PRM data) is written into the controller.
The return-to-origin incomplete status occurs if any of the following alarms occurs. These alarms occur when turning on the
controller.
17.410
ABS. battery error during power off
17.411
Resolver disconnected during power off
17.413
ABS. overflow error
etc.
■
Checking the return-to-origin complete status
To check the return-to-origin complete status of each controller axis, select [Operation] - [Origin Return] from
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