Yamaha RCX40 User Manual page 209

n
NOTE
Perform origin-return first for those
axes that might interfere with
surrounding equipment.
n
NOTE
Origin sequence includes both the
robot axes and auxiliary axes.
c
CAUTION
If stroke-end return-to-origin is
simultaneously performed on two or
more axes, emergency stop might be
triggered and an error message
issued. This may harm the robot body
so do not perform stroke end return-
to-origin simultaneously on more
than 1 axis.
2. Origin sequence /ORIGIN
This parameter sets a sequence for performing absolute reset and return-to-origin on
each axis of the robot.
Enter axis numbers of the robot in the sequence for performing return-to-origin. For
example, when the numbers 1, 2, 3, 4, 5, 6 are entered, return-to-origin is performed
in sequence from axis 1 to axis 6. The numbers 3 1 2 4 5 6 are set automatically when
the parameters are initialized.
If an axis number is not set, then return-to-origin for that axis number is performed
last in the return-to-origin sequence.
It is advisable to perform return-to-origin first for those axes that might interfere with
surrounding equipment.
[Procedure]
1) Select "2.Origin sequence" in "SYSTEM>PARAM>ROBOT" mode.
2) Press the (EDIT) key.
F 1
3) Select the parameter with the cursor (↑/↓) keys.
Fig. 4-12-7 Setting the "Origin sequence".
SYSTEM>PARAM>ROBOT
2.Origin sequence
MG= 312456
[0-654321] Enter>_
4) Enter the value with the
5) Press the key to quit the edit mode.
ESC
312456
to keys and then press the
0 9
12. "SYSTEM" mode
V8.01
key.
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