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The actual example of return-to-origin operation is shown below.
Programming box operation
PGM execution
IO operation
Key operation
Command *1
Input port
DI17 mode *2
Absolute specifications only
Impossible (possible by-axis)
ORIGIN 0, 2
DI17
ABS
Incremental specifications only
Impossible (possible by-axis)
ORIGIN 0, 1
DI14
ABS
Both specifications at the same time
"ALL"
ORIGIN 0, 0
DI17
ABS/ORG
*1 For details about ORIGIN command, refer to the YRCX programming manual.
*2 This is the DI17 mode setting of the control parameters.
■
R-axis orientation
‹
RORIEN
›
This parameter sets whether or not the R-axis orientation (posture) is held when performing jog operation on the
Cartesian coordinates in the SCARA robot. When this parameter is initialized, "0: KEEP" is set.
When the orientation set at "KEEP", the R-axis automatically rotates to hold the current orientation if jog movement is
performed on the Cartesian coordinates.
Setting
Meaning
0: KEEP
Keeps the R-axis orientation (posture).
1: FREE
Does not keep the R-axis orientation (posture).
NOTE
This parameter is invalid when the R-axis is set at the auxiliary axis.
■
Arm type at reset
‹
ARMTYP
›
This parameter sets the hand system that is selected at program reset. When this parameter is initialized, "0: NONE" is set.
When moving on the Cartesian coordinates in the SCARA robot or when performing coordinate conversion (pulse
coordinates Cartesian coordinates), the hand system setting becomes important.
Setting
Meaning
0: NONE
Keeps the hand system that was set before performing program reset.
1: RIGHT
Sets the hand system to the right-handed.
2: LEFT
Sets the hand system to the left-handed.
■
MOVE L coef.
‹
CPACRAT
›
This parameter sets the acceleration/ deceleration at linear interpolation, circular interpolation and PATH movement of
the SCARA robots between 1 to 100%. When this parameter is initialized, "100" is set.
This coefficient obtains optimum efficiency when set to "100%" to the tip weight and SCARA R-axis moment of inertia.
CAUTION
If decreasing the acceleration coefficient, a period of stop time in response to the stop command by the STOP
key or stop signal may become long.
NOTE
When the tip swings during robot movement acceleration/ deceleration, decrease this value to suppress the swing.
■
R axis inertia
‹
SCRINR
›
This parameter sets the moment of inertia for the R-axis of the SCARA robot. The unit is "kgm2 × 10-4".
When this parameter is initialized, "0" is set.
■
R axis inertia offset for SCARA
‹
INROFST
›
This parameter sets the distance that is offset from the rotation center of the R-axis to the gravity center of the tip weight.
The unit is "0.001 mm".
This parameter is invalid for robots other than the SCARA robot R6YXE.
When this parameter is initialized, "0" is set.
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