User`s manual

5-11
5
Functions
5. Functions
(2) Return-to-origin using sensor method (RDX)
The following table shows the RDX return-to-origin operation using the sensor
method.
FA-23
ORL terminal at start of return-to-origin using sensor method
OFF ON
S-F
(ORL)
2
1
3
4
5
(Fb-12)
(Fb-13)
A
Sensor
4096 pulses (machine reference=100%)
Machine reference (d-18)
(Note 3)
Position
Reverse run
Forward run
First phase Z
Phase Z
5
6
A
2
3
4
1
(Fb-12)×0.5
(Fb-12)×0.5
7
(Fb-13)
Sensor
(ORL)
First phase Z
Reverse run
Phase Z
Position
Forward run
Machine reference (d-18)
(Note 3)
4096 pulses (machine reference=100%)
S-r
1
(Fb-13)
(Note 3)
3
2
4
5
A
(Fb-12)×0.5
Sensor
(ORL)
First phase Z
Phase Z
Forward run
Position
Reverse run
4096 pulses (machine reference=100%)
Machine reference (d-18)
1
A
2
7
6
5
4
3
(Fb-12)×0.5
(Fb-12)×0.5
(ORL)
Sensor
(Note 3)
Reverse run
Forward run
Position
4096 pulses (machine reference=100%)
Machine reference (d-18)
Phase Z
First phase Z
Operation sequence
1. Start return-to-origin.
2. Robot moves towards origin at return-to-origin
speed (Fb-12).
3. Slows down during deceleration time (Fb-05)
when sensor (ORL terminal) turns on.
(Note 5)
4. Continues moving at slow return-to-origin speed
(Fb-13).
5. Stops at first "phase Z" position after reaching
the slow return-to-origin speed (Fb-13). (Machine
reference displayed on d-18.)
(Note 3)
1. Start return-to-origin.
2. Robot moves away from origin at 50% of
return-to-origin speed (Fb-12).
3. Reverses movement direction when sensor (ORL
terminal) turns off. (Deceleration/acceleration time
is determined by parameters (Fb-05, Fb-04).
(Note 5)
4. Moves back towards origin at 50% of return-to-
origin speed (Fb-12).
(Note 4)
5. Slows down during deceleration time (Fb-05)
when sensor (ORL terminal) turns on.
(Note 5)
6. Continues moving at slow return-to-origin speed
(Fb-13).
7. Stops at first "phase Z" position after reaching
the slow return-to-origin speed (Fb-13). (Machine
reference displayed on d-18.)
(Note 3)
Note 1: If the origin sensor (ORL terminal) does not turn off even when the robot has moved a distance of 50,000 pulses
after starting return-to-origin with the origin sensor (ORL terminal) turned on (operation in steps 1 and 2), then an
origin sensor alarm (E80) occurs.
Note 2: If the origin sensor (ORL terminal) does not turn on and the robot comes into contact with the mechanical end
(stroke end), then an overload alarm (E05) occurs.
Note 3: Machine reference is displayed after return-to-origin is completed normally.
Note 4: If the origin sensor (ORL terminal) turns on during acceleration, then the robot immediately slows down and sets
to step 5. (Speed might not always reach 50% of return-to-origin speed (Fb-12) ).
Note 5: Acceleration/deceleration time parameters set the time needed to accelerate or decelerate between 0 and
maximum speed.