3
Opera
tion
3-30
"ORIGIN RTN (TRQ/SENS)" screen
Step 3
Step 3
Check the machine reference.
After the return-to-origin operation has been
completed, "Ref." (machine reference) and
"Status" are displayed on the "ORIGIN RTN
(TRQ/SENS)" screen.
Check that the machine reference is within
the tolerable value and that the status is
"OK".
Press the ESC key to return to the initial
screen.
NOTE
• Refer to "5.1 Return-to-origin operation" in this Chapter for details on return-to-origin operation and "5.2 Semi-
absolute" in this Chapter for details on absolute search operation.
• The machine reference is expressed as a percentage of the number of position detection pulses showing the
difference between the origin sensor signal and position detector reference signal (encoder zero signal, etc.).
This is also called the "grid position" or "grid pulse".
• When the return-to-origin has been completed, the return-to-origin does not need to be performed again even
when pressing the emergency stop button.
For increment type axes, the return-to-origin needs to be performed again when turning off the controller.
5.3 Absolute reset (mark method) procedure
For axes with mark method, the return-to-origin is not performed.
For the mark method, absolute reset is performed from the programming box. Therefore, when the robot is in
the servo on status, use the Jog keys to move the robot to a position where absolute reset is possible. When the
robot is in the servo off status, use the direct movement to do so.
For absolute reset, the robot origin position can be set at a desired position.
WARNING
During absolute reset in the servo on status, pressing the jog keys will operate the robot. Therefore, do not enter
the robot movement range to prevent any hazard.
■
Key operation to move the robot to a position where absolute reset is possible.
The current position of axis 1 is "1" (machine reference: 82%).
When pressing
, the axis moves to "2", and then it moves to a position where the machine reference is about 50%.
When pressing
, the axis moves to "3", and then it moves to a position where the machine reference is about 50%.
0
25
50
3
1
2
75
0
25
50
75
0
Minus (−) direction
Plus (+) direction
: Range in which absolute reset can be made (44 to 56%).
Machine reference (%)
Summary of Contents for YRCX Series
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