Yamaha RCX40, User Manual

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4
Operation
12. “SYSTEM” mode
16.Motor direction /MOTDIR
This parameter specifies the robot movement direction. When initialized, this is set
automatically according to the current robot model.
“---” ............. : Motor minus (-) direction is set as the - direction.
“+++” ........... : Motor plus (+) direction is set as the + direction.
This parameter cannot be changed while the servo is on. To change the parameter,
make sure the servo is off.
[Procedure]
1) Select “16. Motor direction” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (
↑
/
↓
) keys.
Fig. 4-12-29 Setting the “Motor direction”
SYSTEM >PARAM>AXIS V8.01
16.Motor direction
M1=––– M2= ––– M3=+++
m4= –––
––– +++
4) Press the
F 1
(---) or
F 2
(+++) key.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
n
NOTE
This parameter cannot be changed
while servo is on.
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.
• On SCARA robots, changing the
initial setting for an axis will
cause problems during linear
movement on that axis, so do not
change the initial setting.