Yamaha RCX222, User Manual

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Chapter
4
OPERA
TION
12. "SYSTEM" mode
2. Origin sequence /ORIGIN
This parameter sets a sequence for performing absolute reset and return-to-origin
on each axis of the robot. 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.
n
NOTE
Perform origin-return first 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.