User`s manual

19
CHAPTER2 PROFIBUS Unit
■ Origin return command (ORG-S)
This command performs origin return when the search method was selected as the
origin detection method, or checks the origin return status if the mark method was
selected.
On dual-axis controllers, you can specify the axis for origin return with SI213, SI214
by making PRM10 varid.
MEMO
MEMO
When performing origin return on a search method axis, if both a mark method axis
and a search method axis are present, then origin return must first be completed on
the mark method. Mark method origin return is performed on the HPB.
MEMO
MEMO
Once origin return is performed after the absolute battery and robot cable are con-
nected, it does not have to be performed again, even if the power is turned off. (Ex-
ceptions to this are if the absolute battery backup was disabled or origin-point related
parameters were changed. Origin point is then incomplete (pending) and must be re-
performed.
!
CAUTION
Do not halt on-going origin return during origin point detection (while contact-
ing the mechanical limits) when using the stroke end origin detection method. A
controller overload will trigger an alarm stop condition and the power must be
turned off and then on again.
!
CAUTION
When repeating origin return by the stroke end detection method is unavoid-
able, wait at least 5 seconds before trying it again.
■ Servo ON command (SERVO)
After an emergency stop, cancel it by releasing the emergency stop switch. This trig-
gers an input to turn the servo power on, and the robot can then resume operation.
(The SERVO command is also a pulse input, so must be turned OFF when BUSY
turns ON.)
On dual-axis controllers, the servo recovery axis can be specified with S1213, S1214
by making PRM10 varid.