Yamaha RCX240, Руководство пользователя

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4-210
Chapter 4 OPERATION
12. "SYSTEM" mode
Chapter 4 OPERATION
4-211
14. Origin method /ORGSNS
This parameter selects the method for performing return-to-origin on the robot. When
initialized, this is automatically set according to the current robot model. Three methods are
available as follows:
"sensor" .........: Origin is detected by sensor input.
"torque" .........: Origin is detected when the axis moves against the mechanical stroke end.
"mark" ...........: Origin position is set by the user, such as with mating marks. (Axis specified
as the "mark" does not perform return-to-origin.)
1
Select "14. Origin method" in "SYSTEM>PARAM>AXIS" mode.
2
Press (EDIT).
3
Select the axis with the cursor ( / ) keys.
ＳＹＳＴＥＭ ＞ＰＡＲＡＭ＞ＡＸＩＳ Ｖ１０．０１
１４．Ｏｒｉｇｉｎ ｍｅｔｈｏｄ
Ｍ１＝ＳＥＮＳＯＲ Ｍ２＝ＳＥＮＳＯＲ Ｍ３＝ＴＯＲＱＵＥ
Ｍ４＝ＭＡＲＫ
ＳＥＮＳＯＲ ＴＯＲＱＵＥ ＭＡＲＫ
Setting the "Origin method"
4
Press (SENSOR) or (TORQUE) or (MARK) to enter the
setting.
5
Repeat steps 3 and 4 as needed.
6
Press to quit the edit mode.
c
CAUTION
• YAMAHA can accept no liability from problems arising due to changing the
return-to-origin method without consulting YAMAHA beforehand.
• return-to-origin will be incomplete if this parameter is changed.