5
o
peration
5-10
2.3 Origin point and coordinates relationship
Coordinates are determined in accordance with the return-to-origin direction. The opposite direction from the
return-to-origin direction is the "plus" direction. This direction (coordinate) setting can be reversed by changing
the K15 ("Origin Coordi.") parameter setting.
Return-to-origin
direction (K14)
Standard Direction
Reverse Direction
CCW
CW
O
(Origin point)
(Origin point)
(Origin point)
(Origin point)
Return-to-origin direction
Return-to-origin direction
O
O
Coordinate "plus" direction
Return-to-origin direction
Coordinate "plus" direction
Coordinate "plus" direction
Return-to-origin direction
Coordinate "plus" direction
O
Origin coordinates (K15)
Return-to-origin direction
23503-M0-00
"Origin shift amount" setting
n
The origin point coordinates can be changed by changing the K16 (Origin Shift Amount) parameter setting.
The origin point coordinates are therefore this parameter's setting value.
Machine reference
n
When an origin search (return-to-origin) is performed on a robot using the stroke end (torque) or sensor method, a slight
difference in distance occurs between the position where the origin signal is detected and the reference position of the
motor's position sensor. This difference is called the machine reference and is usually expressed as a percent. The
machine reference is factory-adjusted to within 25% to 75%. (The adjustment range varies according to the robot type.
For details, refer to the user's manual for the robot being used.) The machine reference can be checked by executing a
return-to-origin from the optional Handy Terminal (HT1) or from the support software (TS-Manager).
n
NOTE
The machine reference must be readjusted if it is not within the 25 to 75% range (or if it is outside the allowable
range of the robot being used). For details on the adjustment procedure, please contact us.
2.4 Return-to-origin timing chart
Operation-in-progress
(BUSY)
Return-to-origin (ORG)
Operation end (END)
Return-to-origin end status
(ORG-S)
1
2
3
4
Return-to-origin timing chart
23504-M0-00
1: The ORG input switches ON.
2: When the return-to-origin begins, the END signal switches OFF, and BUSY switches ON.
3: When ORG-S switches ON, the ORG input switches OFF.
4: BUSY switches OFF, and END switches ON.
