3
Opera
tion
3-32
Step 4
Perform absolute reset.
WARNING
The robot starts to move slightly when absolute reset is performed while the servo is on. To avoid danger, do not
enter the robot movement range.
Press the ENTER key on the "ORIGIN RTN (MARK)" screen to complete absolute reset.
After absolute reset has been completed, the axis moves to the "0" pulse position.
When absolute reset is not executed, press the ESC key.
Checking the status
Step 5
Step 5
Check the status.
"Status" is displayed on the "ORIGIN RTN
(MARK)" 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.
■
Absolute reset procedure in servo off status
Step 1
Move to the "ORIGIN RTN (MARK)"
screen.
Use the cursor keys to select [Operation]
from the initial screen, and then press the
ENTER key.
Next, select [Origin Return], and then press
the ENTER key.
"ORIGIN RTN (MARK)" screen
Step 1
Step 2
Move the axis to a position where
absolute reset is possible.
Press the emergency stop button on the
programming box to put the robot in the
emergency stop status. Move the target axis
by hand to a position where absolute reset is
performed. At this time, take appropriate
measures so that the "Ref." (machine
reference) display is within a range of 44 to
56.
NOTE
When the machine reference display is not within a range of 44 to 56, "17.403: Position rest malposition" alarm
appears and absolute reset ends abnormally.
If a failure occurs and the controller enters the return-to-origin incomplete status, perform absolute reset for the
axis in the return-to-origin incomplete status. After absolute reset has been completed, be sure to check that the
axis moves to the same position as the position before the axis enters the return-to-origin incomplete status.
WARNING
Be sure to press the emergency stop button and move the robot in the status where the servo on cannot be
operated from the outside.
Summary of Contents for YRCX Series
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