Omron SCARA YRCX Series, Programming Manual, Page: 233 / 506

ORIGIN 8-141
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74 ORIGIN
Performs return-to-origin
Format
ORIGIN [robot number], motor type
Values robot number ........................
motor type .............................
0: all robots
1 to 4: specified robot only
0: all types
1: incremental motor only
2: absolute motor only
9: incomplete return-to-origin axis only
(If omitted, 0 (all types) is specified.)
Explanation This statement performs return-to-origin of a robot
If the movement is stopped at an intermediate point, "incomplete return-to-origin"
status will occur.
If < robot number > is omitted or "0" is specified during multiple robots setting, the
return-to-origin and absolute search are first performed for the robot 1 and then for
the robots 2 to 4.
SAMPLE
ORIGIN 0, 1 ····················· P e r f o r m s r e t u r n - t o - o r i g i n f o r
incremental motor axes only of all
robots.
Related commands ORGORD, MCHREF