YASKAWA Motoman UP6, Instructions Manual

Page: 189 / 561

3.8 Operation Origin Point Setting
3-31
*2
New operation origin point is set.
"
Returning to the Operation Origin Point
In the teach mode
*1
The manipulator moves to the new operation origin point. During movement, the mes-
sage “Manipulator is moving to operation origin point” is shown. The moving speed is
the selected manual operation speed.
In the play mode
When the operation origin point return signal is input (detected at leading edge), the tool cen-
ter point of the manipulator is moved to the operation origin point using the same operation as
the teach mode. However, the speed for this is set in the parameters.
"
Output of the Operation Origin Point Signal
This signal is output any time the current position of the tool center point of the manipulator is
checked and found to be within the operation origin cube.
When the operation origin point is changed, the operation origin cube is automatically set
as cube 24~22 in the base coordinate system.
• The cube 24 is for ROBOT1
• The cube 23 is for ROBOT2
• The cube 22 is for ROBOT3
The operation origin cube is a cube like the one shown in the figure below; the length of its
sides is determined by a parameter setting made by the user (units: µm). By changing this
parameter setting, the size of the cube can be changed.
S3C412: The operation origin cube length of its sides( µm)
Specify whether “COMMAND POSITION” or “FEEDBACK POSITION” is to be set to the
operation origin cube signal’s CHECK MEASURE in the interference area settings. “COM-
MAND POSITION” is the default setting.
Press [FWD] in the operation origin point display
*1
N OT E
P
a
a
a
O peration
Explanation