9-3
9
OPERATING THE ROBOT
9-1 Performing Return-to-Origin
5) This screen is displayed during return-to-ori-
gin. Pressing
STOP
during the operation brings
the robot to a halt and displays a message. Then,
pressing the
ESC
key returns to the screen of
step 2.
[OPRT-ORG-SEARCH]
searching ···
[OPRT-ORG-SEARCH]
origin complete
machine ref. X=50%
Y=50%
6) When return-to-origin is completed normally,
the machine reference appears on the lower
right of the screen. Pressing the
ESC
key re-
turns to the screen of step 2.
n
NOTE
When the mark method is used for one axis and the search method for the other axis, return-to-origin on the axis
using the mark method must first be completed before performing return-to-origin by selecting
F1
(ALL) in step
3.
(When
F1
(ALL) was selected, the controller checks whether return-to-origin has been performed on the axis
using the mark method. If return-to-origin is incomplete on that axis, an error will be issued and return-to-origin
operation will not be completed.)
c
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 (10deg/s for rotary robots) 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 4 in
"SERVICE mode state". (You must hold down
F1
(yes) until return-to-origin is complete.)
c
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.
c
CAUTION
If return-to-origin operation using the stroke-end detection method must be repeated, wait at least 5 seconds
before repeating it.
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