Yamaha RCX240, User Manual

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Chapter 4 OPERATION
12. "SYSTEM" mode
Chapter 4 OPERATION
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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.
It is recommended to perform return-to-origin first on those axes that might interfere with
surrounding equipment.
n
NOTE
Perform origin-return first for those axes that might interfere with surrounding
equipment.
1
Select "2.Origin sequence" in "SYSTEM>PARAM>ROBOT" mode.
2
Press (EDIT).
3
Select the parameter with the cursor ( / ) keys.
ＳＹＳＴＥＭ ＞ＰＡＲＡＭ＞ＲＯＢＯＴ Ｖ１０．０１
２．Ｏｒｉｇｉｎ ｓｅｑｕｅｎｃｅ
ＭＧ＝ ３１２４５６
［０−６５４３２１］ Ｅｎｔｅｒ ＞３１２４５６
Setting the "Origin sequence".
4
Enter the value with to and then press .
n
NOTE
Origin sequence includes both the robot axes and auxiliary axes.
c
CAUTION
Emergency stop might be triggered if return-to-origin is simultaneously performed
on three or more axes whose return-to-origin method is the stroke end detection
method. In this case, change the setting so that stroke end return-to-origin is
simultaneously performed on two axes or is performed separately on each axis.
5
Press to quit the edit mode.