Yamaha RCX142, User Manual

Page: 230 / 450

4-
168
Operation
4
12. “SYSTEM” mode
14.Origin method /ORGSNS
This parameter selects the method for performing return-to-origin on the robot. When
initialized, this is automatically set according to the current robot model. Three methods
are available as follows:
“sensor” ....... : Origin is detected by sensor input.
“torque” ....... : Origin is detected when the axis moves against the mechanical stroke
end.
“mark” ......... : Origin position is set by the user, such as with mating marks. (Axis
specified as the “mark” does not perform return-to-origin.)
[Procedure]
1) Select “14. Origin method” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (
↑
/
↓
) keys.
Fig. 4-12-27 Setting the “Origin method”
SYSTEM >PARAM>AXIS V8.35
14.Origin method
M1=SENSOR M2=SENSOR M3=TORQUE
M4=MARK
SENSOR TORQUE MARK
4) Press one of the
F 1
(SENSOR),
F 2
(TORQUE) or
F 3
(MARK) keys.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
c
CAUTION
• YAMAHA can accept no liability
from problems arising due to
changing the return-to-origin
method without consulting
YAMAHA beforehand.
• Return-to-origin will be
incomplete if this parameter is
changed.