Okura Yusoki A Series, Original Instructions Manual

Page: 32 / 78

4-2
4.1.
Origin Storing
Operation for automatically calculating origin offset and setting it is called origin storing.
Origin storing is required in the following cases.
A. When encoder cable at motor connector is disconnected.
B. When latched error of [Encoder Battery Voltage Drop] needs to be reset.
（＊１）
Procedure for moving to the origin storing screen is as follows.
System storing menu
↓
Motor axis data
↓
Origin storing
[ Operating procedure ]
①
In manual operation, move the axis to be stored to the basic position
See [4.2 Basic posture] for the positions of each axis to store in detail.
②
Press the appropriate axis button to be stored
③
Press STORE key to store the origin.
However, when motors, etc. are replaced, do "Temporal storing" just to move arm near the origin
first in PTP mode then do the origin storing second.
CP / PM mode doesn't work for manual operation during Temp-storing.
Cycle main power every after Temp-storing or Storing is done.
④
Current position (pulse) of a stored axis should be within range of
0 - 65535 pulse upon completion of storing in good order
* If an error occurs during the above operation (1), move arm holding an abnormal reset button
pressed down.
The operation works only at PTP mode (one motor driven at a time).
Important!
(Caution when Temporal-storing is required other than the origin storing)
Do "Temporal storing" just to move arm near the origin first when
motors, etc. are replaced then do the origin storing second.
CP / PM mode doesn't work for manual operation during Temp
Storing.