Yamaha SRCP - Manual (Page 135)

9-
3
9
OPERA
TING THE 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.)
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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.
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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.
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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.