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10. Origin shift [pulse] /SHIFT
This parameter is used to correct the origin position error when the motor has been
replaced for some reason or the robot origin position has shifted due to mechanical
shocks. This parameter is set to 0 when initialized.
To correct the origin position error, enter the number of pulses required to move the
origin back to the correct position.
For example, if the B pulses represent the origin position that the robot arm moved
to after position error, and the A pulses are the origin position before position error,
then enter a value of "A - B",
c
CAUTION
• Origin shift is a critical parameter for determining the robot position so set
it to a correct value. Change this parameter only when necessary.
• Origin return will be incomplete if this parameter is changed.
• This parameter is enabled after absolute reset.
[Procedure]
1) Select "10. Origin shift [pulse]" in "SYSTEM>PARAM>AXIS" mode.
2) Press
(EDIT).
3) Select the axis with the cursor ( ↑ / ↓ ) keys.
■ Setting the "Origin shift [pulse]"
SYSTEM>PARAM>AXIS
10.Origin shift[pulse]
M1=
[+/-6144000] Enter >_ 0
4) Enter the value with
5) Repeat the above steps 3) and 4) if necessary.
6) Press
to quit the edit mode.
V9.00
0
M2=
0
to
,
and then press
12. "SYSTEM" mode
.
4-177
Chapter
4
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