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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.)
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.
[Procedure]
1) Select "14. Origin method" in "SYSTEM>PARAM>AXIS" mode.
2) Press
(EDIT).
3) Select the axis with the cursor ( ↑ / ↓ ) keys.
■ Setting the "Origin method"
SYSTEM>PARAM>AXIS
14.Origin method
M1=SENSOR
SENSOR
TORQUE
4) Press one of
5) Repeat the above steps 3) and 4) if necessary.
6) Press
to quit the edit mode.
M2=SENSOR
MARK
(SENSOR),
(TORQUE) or
12. "SYSTEM" mode
V9.00
(MARK).
Chapter
4
4-181
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