Origin Search (Return-To-Origin) - Yamaha TS-S User Manual

6.2 Origin search (return-to-origin)
To find the robot origin position, use the following procedure after making sure that the servo is on.
n
NOTE
Origin search cannot be performed unless the
servo is on.
w
WARNING
thE RoBot WIll NoW MovE, So uSE CAutIoN.
On the main menu screen, select
1
"Operation".
The "Operation" menu screen appears
showing selectable menu items.
Move the cursor to "Origin Search"
2
and press .
The "Origin Search" screen appears showing
the origin search method and direction.
3 Ensure safety and press
an origin search.
The message "Running..." appears during
origin search.
If you want to stop the origin search, press
When origin search is complete,
4
check the message.
The message "OK" and machine reference
(Ref. = ** %) appear when the origin search
has ended successfully.
n
NOTE
The machine reference must be adjusted if it is
outside an allowable range of 25% to 75%
(allowable range may differ depending on the
robot type, so refer to the robot user's manual).
For information on how to adjust the machine
reference, contact our sales office or
representative.
Press .
5
CLR
This returns to the "Origin Search" screen.
CLR
Pressing once more returns to the
"Operation" menu screen.
Step 2
24A31-M0-00
to start
RUN
Step 3
STOP .
24A32-M0-00
Step 4
24A33-M0-00
"Origin Search" screen
Operation [01]
NRM
Servo status
Origin search
Run
Reset
Current pos. 128.00 mm
Origin search NRM [01]
Method: TORQUE
Direction: CCW
Coordinates:Normal
RUN:Origin search start
Current pos. 128.00 mm
Origin search (return-to-origin) running screen
Origin search NRM [01]
Method: TORQUE
Direction: CCW
Origin search
Coordinates:--
Running...
RUN:Origin search start
Current pos. 128.00 mm
Origin search (return-to-origin) completion screen
Origin search NRM [01]
Method: TORQUE
Direction: CCW
Origin search
Coordinates:
OK
Ref. = 50 %
RUN:Origin search start
Current pos. 128.00 mm
A
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