Yamaha RCX141, Руководство пользователя

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4-
146
Operation
4
12. “SYSTEM” mode
2. Origin sequence /ORIGIN
This parameter sets a sequence for performing return-to-origin or absolute search on
each axis of the robot to determine the reference position. The numbers 3 1 2 4 5 6 are
set automatically when the parameters are initialized.
Enter axis numbers of the robot in the sequence for performing return-to-origin. For
example, when the numbers 1, 2, 3, 4, 5, 6 are entered, return-to-origin is performed
in sequence from axis 1 to axis 6.
If an axis number is not set, then return-to-origin for that axis number is performed
last in the return-to-origin sequence. This is the same for absolute search.
It is recommended to perform return-to-origin first on those axes that might interfere
with surrounding equipment.
[Procedure]
1) Select “2.Origin sequence” in “SYSTEM>PARAM>ROBOT” mode.
2) Press the
F 1
(EDIT) key.
3) Select the parameter with the cursor (
↑
/
↓
) keys.
Fig. 4-12-7 Setting the “Origin sequence”.
SYSTEM >PARAM>ROBOT V8.30
2.Origin sequence
MG= 312456
312456
[0-654321] Enter>_
4) Enter the value with the
0
to
9
keys and then press the key.
5) Press the
ESC
key to quit the edit mode.
n
NOTE
Perform origin-return or absolute
search first for those axes that might
interfere with surrounding equipment.
n
NOTE
Origin sequence includes both the
robot axes and auxiliary axes.
c
CAUTION
Emergency stop might be triggered if
return-to-origin or absolute search is
simultaneously performed on three or
more axes whose return-to-origin
method is the stroke end detection
method. In this case, change the
setting so that stroke end return-to-
origin or absolute search is
simultaneously performed on two
axes or is performed separately on
each axis.