11-5 Communication Command Description

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

: @ORG c/r l/f

................................

Performs return-to-origin.

Response example 1

: OK c/r l/f

 

 

 

52% c/r l/f

 

 

 

OK c/r l/f

 

 

Response example 2

: NG c/r l/f

The robot is running.

 

31: running

c/r l/f

Execute the command again

 

 

 

after stopping the robot.

n

c

11 c

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.

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.

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.

COMMUNICATION WITH PC

c 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.

11-8

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Yamaha SRCP manual Communication Command Description, Robot movements, @Org, Transmission example, Response example