YASKAWA Motoman UP6, Instructions Manual

Page: 188 / 561

3.8 Operation Origin Point Setting
3-30
3.8
Operation Origin Point Setting
3.8.1
What is the Operation Origin Point?
The Operation Origin Point is a reference point for manipulator operations. It prevents interfer-
ence with peripheral devices by ensuring that the manipulator is always within a set range as
a precondition for operations such as starting the line. The manipulator can be moved to the
set operation origin point by operation from the programming pendant, or by signal input from
an external device. When the manipulator is in the vicinity of the operation origin point, the
operation origin point signal turns ON.
3.8.2
Setting Operation Origin Point
"
Operation Origin Point Display
*1
Operation origin point display is shown. For spot application or handling application.
*2
When two or more manipulators and stations exist in the system, the control group is
changed using the page key
"
Registering/Changing the Operation Origin Point
*1
Move the manipulator to the new operation origin point.
Select {ROBOT} under the top menu Select {OPE ORIGIN POS}
*1
Press the
page key
*2
Press the axis keys in the operation origin point display
*1
Press [MODIFY] and
[ENTER]
*2
O peration
Explanation
E D I T D I S P L A Y D A T A UTILITY
O P E R A T I O N O R I G I N
[APPL 1] HOME POS CUR POS
S 0 2240
L 0 32
U 0 342
R 0 -21
B 0 0
T 0 -3239
!
R1
S C
L
O peration
Explanation