Yamaha SRCP manual Robot

9-1 Performing Return-to-Origin

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CAUTION

When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE mode function".)

•Return-to-origin movement speed is limited to 10mm/s or less in "SERVICE mode state" when the robot movement speed limit is enabled.

• If the hold-to-run function is enabled, robot movement stops upon releasing F1 (yes) in step 3 in

"SERVICE mode state". (You must hold down F1 (yes) until return-to-origin is complete.)

CAUTION

If the robot is operated while return-to-origin is still incomplete, the thrust necessary to move the robot cannot be obtained and causes an alarm or abnormal operation. Always perform return-to-origin before starting the robot operation.

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 have to be turned on again.

CAUTION

Do not continuously repeat return-to-origin operations. If return-to-origin operation using the stroke-end detection method must be repeated, wait at least 5 seconds before repeating it.

9

OPERATING THE

ROBOT

9-3