Communication Command Description; Robot Movements - Yamaha SRCP User Manual

11-5 Communication Command Description

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11-5 Communication Command Description

11-5-1 Robot movements

(1)@ORG
@ORGN
Returns the robot to its origin position and outputs the machine reference value when completed
correctly.
Transmission example
Response example 1
Response example 2
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NOTE
The magnetic pole is detected simultaneously with return-to-origin operation. Every time the power is turned on,
return-to-origin becomes incomplete. Always perform return-to-origin after turning on the power to the controller,
before starting operation. Return-to-origin also becomes incomplete after a parameter related to the origin position
is changed. Return-to-origin must be reperformed in this case.
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CAUTION
If the robot is operated while return-to-origin is still incomplete, the thrust necessary to move the robot cannot
be obtained causing an alarm or abnormal operation. Always perform return-to-origin before starting the robot
operation.
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CAUTION
When performing return-to-origin by the stroke-end detection method, do not interrupt the return-to-origin
operation while detecting the origin (while contacting the mechanical limit). Otherwise, the operation will stop
due to a controller overload alarm and the power will need to be turned on again.
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CAUTION
Avoid repeating return-to-origin operations. If you must repeat return-to-origin using the stroke-end detection
method, wait at least 5 seconds before repeating it.
: @ORG c/r l/f ................................ Performs return-to-origin.
: OK c/r l/f
52% c/r l/f
OK c/r l/f
: NG c/r l/f ...................................... The robot is running.
31: running c/r l/f Execute the command again
after stopping the robot.