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16. Motor direction /MOTDIR
This parameter specifies the robot movement direction. When initialized, this is set
automatically according to the current robot model.
X series robots:
"---" ...... Motor minus (-) direction is set as the - direction.
"+++" .... Motor minus (-) direction is set as the + direction.
PHASER series robots:
"---" ...... Robot L-direction is set as the - direction.
"+++" .... Robot L-direction is set as the + direction.
(See the robot catalog for the definition of the L-direction.)
This parameter cannot be changed while the servo is on. To change the parameter,
make sure the servo is off.
n
NOTE
This parameter cannot be changed while servo is on.
c
CAUTION
• YAMAHA can accept no liability from problems arising due to changing
the axis polarity without consulting YAMAHA beforehand.
• Return-to-origin will be incomplete if this parameter is changed.
[Procedure]
1) Select "16. Motor direction" in "SYSTEM>PARAM>AXIS" mode.
2) Press
(EDIT).
3) Select the axis with the cursor ( ↑ / ↓ ) keys.
■ Setting the "Motor direction"
SYSTEM>PARAM>AXIS
16.Motor direction
M1=–––
–––
+++
4) Press
(---) or
5) Repeat the above steps 3) and 4) if necessary.
6) Press
to quit the edit mode.
V9.00
M2=–––
(+++).
12. "SYSTEM" mode
4-173
Chapter
4
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