Yamaha CEmarking RCX221, User Manual

Page: 221 / 468

4-153
Chapter
4
OPERA
TION
12. "SYSTEM" mode
2. Origin sequence /ORIGIN
This parameter sets a sequence for performing return-to-origin or absolute search on
each axis of the robot to determine the reference position. The numbers 3 1 2 4 5 6
are set automatically when the parameters are initialized.
Enter axis numbers of the robot in the sequence for performing return-to-origin. For
example, when the numbers 1, 2, 3, 4, 5, 6 are entered, return-to-origin is performed
in sequence from axis 1 to axis 6.
If an axis number is not set, then return-to-origin for that axis number is performed
last in the return-to-origin sequence. This is the same for absolute search.
n
NOTE
Perform origin-return or absolute search fi rst for those axes that might
interfere with surrounding equipment.
n
NOTE
Origin sequence includes both the robot axes and auxiliary axes.
[Procedure]
1) Select "2.Origin sequence" in "SYSTEM>PARAM>ROBOT" mode.
2) Press (EDIT).
3) Select the parameter with the cursor (
↑
/
↓
) keys.
■
Setting the "Origin sequence".
SYSTEM >PARAM>ROBOT V9.00
2.Origin sequence
MG= 312456
312456 [0-654321] Enter>_
4) Enter the value with to and then press .
5) Press to quit the edit mode.