Return-To-Origin By The Mark Method - Yamaha DRCX User Manual

9-1 Performing Return-to-Origin
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4
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9-1-2 Return-to-origin by the mark method

When the mark method is selected as the origin detection method (PRM55 and PRM95 are set to 2),
perform return-to-origin with the procedure below.
1) Press (OPRT) on the initial screen.
F2
2) Next, press F1 (ORG).
3) Select the axis to perform return-to-origin.
To perform return-to-origin on the X-axis only,
press (X). To perform return-to-origin on
F2
the Y-axis only, press
F3
(Return-to-origin on the axes using the mark
method cannot be performed with
When (ALL) is selected, the controller
F1
checks only whether return-to-origin has been
performed.)
4) To use the teaching playback method for set-
ting a mark position, press
the direct teaching method to set a mark posi-
tion, press (DTCH).
F2
5) When the teaching playback method was se-
X
lected, use the – and
Z
robot along the X-axis to the mark position, and
use the and Y keys to move along the
Y +
–
R
R
Y-axis.
The movement method is just the same as the
teaching playback method for point data. (See
"7-2 Teaching Playback".)
When the robot reaches the mark position, press
. (At this point, check that the machine ref-
erence is in a range from 25 to 75%. Other-
wise, the origin point cannot be set correctly.)
6) When the direct teaching method is selected, a
message appears asking you to press the emer-
gency stop button. Press the emergency button
on the TPB.
(Y).
(ALL).
F1
(TCH). To use
F1
X
+
keys to move the
Z
[MENU]
select menu
1EDIT2OPRT3SYS 4MON
[OPRT]
select menu
1ORG 2STEP3AUTO
[OPRT-ORG]
select axis for
origin control
1ALL 2X 3Y 4next
[OPRT-ORG-MARK-X]
select menu
1TCH 2DTCH
[ORG-MARK-TCH](1) 50
move at mark point
ref. 50% [ 0.00]
1DO 2SPD 3S_SET
[ORG-MARK-DTCH]
press EMG. button