Shibaura CA20-M10, Operating Manual, Page: 266 / 384

13
– 22

13.4.8 Setting of return to origin method
STEP 1
Use the numeric keypad to enter the return to
origin method (0 or 1) and press
ENT
.
When
NEXT
is pressed, the next screen will
display, and when
-NEXT
is pressed, the
previous screen will display. Press
ESC
to
display the parameter 2 end screen.
This value is set automatically when the robot type is entered. Refer to section 2.4.7.
NOTE

When a return to origin method has been set under a condition where an axis type
is wrong, this makes this equipment it impossible to return to the origin, or causes
a difference in return position, so that the values set when the robot type is entered
must not be changed.
[ P A R A ] K 0 8 A 0 = 0
H O M E P O S I . A 1 = 0
M E T H O D A 2 = 0
A 3 = 0
1 ….. After the origin sensor turns ON, the axis moves
forward (+ direction) once and stops at the encoder
Z-phase, and then searches for the origin sensor
again at a low speed. When the origin sensor turns
ON, the origin is set.
0 ….. After the origin sensor turns ON, the
encoder Z-phase is detected at a low speed,
and the origin is set.
If the value of the return to origin speed M
(medium speed) (refer to section 10.4.7) is
increased, the operation may pass over the
encoder Z-phase.
3
….. The axis moves backward (- direction) at a low
speed from the current position and the first
encoder Z-phase is detected, then the origin is set.
This mode should not be used (for manufacturer
adjustment use).
2
….. After moving to the axis end, the axis moves
forward (+ direction) at a low speed and the
encoder Z-phase is detected, then the origin
is set.
Axis end
Origin
Origin
Z-phase Z-phase
Origin
Origin sensor
Axis end
Z-phase
Origin
Origin sensor
Axis end
Z-phase