3
Opera
tion
3-29
5.2 Return-to-origin procedure
The robot must be at servo-on status to perform return-to-origin operation.
The return-to-origin procedure is shown below. The absolute search procedure is the same as the return-to-
origin procedure.
WARNING
The robot starts moving as soon as return-to-origin is performed. To avoid hazardous situations, do not enter the
robot movement range.
CAUTION
Before performing return-to-origin, check that axes are in positions that allow return-to-origin operation.
Emergency stop might be triggered if return-to-origin or absolute search 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 or absolute search is simultaneously performed on two axes or is performed
separately on each axis.
NOTE
When using multiple robots, the return-to-origin is performed one robot by one robot.
Step 1
Move to the "ORIGIN RTN (TRQ/
SENS)" screen.
Use the cursor keys to select [Operation]
from the initial screen, and then press the
ENTER key. Next, use the cursor keys to select
[Origin Return], and then press the ENTER key.
"ORIGIN RTN (TRQ/SENS)" screen
Step 1
Step 2
Perform the return-to-origin.
Use the cursor keys to select the axis number
for the return-to-origin or [ALL] (all axes), and
then press the ENTER key.
The return-to-origin execution confirmation
screen will appear.
Confirming the return-to-origin execution
Step 2
NOTE
If there are mark method axes when performing
the return-to-origin of all axes, absolute reset of all
mark method axes is performed, and then the
return-to-origin of the axes other than the mark
method axes is performed.
When pressing the RUN key on the
confirmation screen, the return-to-origin is
then started. After the return-to-origin has
been completed, press the ENTER key to
return to the "ORIGIN RTN (TRQ/SENS)"
screen.
To stop the return-to-origin, press the STOP
key. At this time, after the return-to-origin has
been completed, press the ENTER key to
return to the "ORIGIN RTN (TRQ/SENS)"
screen.
The message, "1.8 Stop executed", will
appear.
Summary of Contents for YRCX Series
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