Yamaha RCX240, User Manual

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Chapter 4 OPERATION
12. "SYSTEM" mode
Chapter 4 OPERATION
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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".
1
Select "10. Origin shift [pulse]" in "SYSTEM>PARAM>AXIS" mode.
2
Press (EDIT).
3
Select the axis with the cursor ( / ) keys.
ＳＹＳＴＥＭ ＞ＰＡＲＡＭ＞ＡＸＩＳ Ｖ１０．０１
１０．Ｏｒｉｇｉｎ ｓｈｉｆｔ［ｐｕｌｓｅ］
Ｍ１＝ ０ Ｍ２＝ ０ Ｍ３＝ ０
ｍ４＝ ０
［＋／−６１４４０００］ Ｅｎｔｅｒ ＞０
Setting the "Origin shift [pulse]"
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 absolute reset or return-to-origin.
4
Enter the value with to , and then press .
5
Repeat steps 3 and 4 as needed.
6
Press to quit the edit mode.