Omron R6YXC1000, User Manual, Page: 161 / 260

7
Contr
oller system settings
7-25
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Origin direction
‹
ORGDIR
›
This parameter sets the movement direction when the robot performs return-to-origin. When this parameter is initialized,
the value unique to the model is set.
0: Minus … The minus (-) direction of the motor position is the return-to-origin direction.
1: Plus … The plus (+) direction of the motor position is the return-to-origin direction.
CAUTION
• When any of the conditions shown below is satisfied, do not change the factory setting.
Conditions Problem at setting change
The model is the F14H lead 5 mm.
When performing stroke end return-to-origin on the non-motor side, the origin
position becomes unstable.
When the setting needs to be changed, contact your distributor.
• If the setting is changed without consulting, your distributor shall not be held responsible for any trouble arising
from this setting change.
• When this parameter is changed, the robot is put in the origin return incomplete status.
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Motor direction
‹
MOTDIR
›
This parameter sets the direction, in which the robot moves. When this parameter is initialized, the value unique to the
model is set.
0: CW … The motor CW direction is the minus (-) direction of the axis.
1: CCW … The motor CCW direction is the minus (-) direction of the axis.
This parameter cannot be changed in the servo on status. To change the parameter, turn the servo off.
For details on the movement direction when the robot is operated to the minus direction by jog movement and the motor
axis polarity is set to "0", refer to "Robot operation direction list" mentioned later in this Chapter.
CAUTION
• When any of the conditions shown below is satisfied, do not change the factory setting.
Conditions Problem at setting change
The model is the F14H lead 5 mm.
When performing stroke end return-to-origin on the non-motor side, the origin
position becomes unstable.
When the setting needs to be changed, contact your distributor.
• If the setting is changed without consulting, your distributor shall not be held responsible for any trouble arising
from this setting change.
• When this parameter is changed, the robot is put in the origin return incomplete status.
■
Arm length
‹
ARMLEN
›
For SCARA type robots, this parameter sets the X and Y-arm lengths.
When this parameter is initialized, the unique value to the model is set. Additionally, this parameter is set automatically
when setting the standard coordinates.