Yamaha SRCP manual Orgn, Return-to-origin must be reperformed in this case

8-4 Robot Language Description

8-4-17 ORGN

Function:	Performs return-to-origin by using the stroke-end detection method.
Format:	ORGN
Example:	ORGN
	Performs return-to-origin by the stroke-end detection method.
Explanation:	Return-to-origin is performed based on return-to-origin parameter data.
Others:	• The magnetic pole is detected simultaneously with return-to-origin
	operation. Each 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 is also in-
	complete after a parameter related to the origin position is changed.
	Return-to-origin must be reperformed in this case.
	• When performing return-to-origin by the stroke-end detection method,
	do not interrupt the return-to-origin operation while detecting the ori-
	gin (while contacting the mechanical limit). Otherwise, the operation
	will stop due to a controller overload alarm and the power will have to
	be turned on again.
	• If return-to-origin must be repeated by the stroke-end detection method,
	wait at least 5 seconds before repeating it.

8

ROBOT LANGUAGE

8-14