Yamaha RCX141, User Manual

Page: 216 / 402

4-
158
Operation
4
12. “SYSTEM” mode
10.Origin shift [pulse] /SHIFT
This parameter is used to correct the origin position error when the motor has been
replaced for some reason or the robot origin position has shifted due to mechanical
shocks. This parameter is set to 0 when initialized.
To correct the origin position error, enter the number of pulses required to move the
origin back to the correct position.
For example, if the B pulses represent the origin position that the robot arm moved to
after position error, and the A pulses are the origin position before position error, then
enter a value of “A - B”,
[Procedure]
1) Select “10. Origin shift [pulse]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (
↑
/
↓
) keys.
Fig. 4-12-23 Setting the “Origin shift [pulse]”
SYSTEM >PARAM>AXIS V8.30
10.Origin shift[pulse]
M1= 0 M2= 0 M3= 0
m4= 0
[+/-6144000] Enter >_ 0
4) Enter the value with the
0
to
9
,
–
keys and then press the key.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
c
CAUTION
• Origin shift is a critical
parameter for determining the
robot position so set it to a correct
value. Change this parameter
only when necessary.
• Origin return will be incomplete
if this parameter is changed.
• This parameter is enabled after
performing return-to-origin.