Mitsubishi CRn-500 Series Instruction Manual page 65

(11) USERORG (user designated origin)
This parameter sets the origin position set when the user designated origin is set. The origin of the
additional axis set here is also reflected on the other origin setting method (mechanical stopper, jig
and ABS system). To set the additional axis of multi-mechanisms, change all parameters excluding
the joint operating range (MEJAR) parameter, and then turn the power from off to on. Next, select a
user mechanism to be used, and then set this parameters. The settable value is in the range of
-80000.00 to 8000.00, being a real number in the range set at MEJAR (joint operating range).
[Example]
When it is used as the multi mechanism (number of mechanism axes: 1 axis), set the user
designated origin as follows.
Origin position designated by the user 1500mm
USERORG = 1500.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00 (Set "1500.00" to the 1st element.)
The MEJAR (joint operating range) and USERORG (user designated origin)
parameters must be set for each user mechanism selected. When setting the
CAUTION
values for the additional axis to be used as multi-mechanisms, exercise caution
so as not to change the robot axes by mistake.
8.User Mechanism Settings, Operation, and Commands
51