Yamaha RCX40 User Manual page 227

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 return-to-origin
method without consulting
YAMAHA beforehand.
• Return-to-origin will be
incomplete if this parameter is
changed.
• On SCARA robots, changing the
initial setting for an axis will
cause problems during linear
movement on that axis, so do not
change the initial setting.
16.Motor direction /MOTDIR
This parameter specifies the robot movement direction. When initialized, this is set
automatically according to the current robot model.
"---" ............. : Motor minus (-) direction is set as the - direction.
"+++" ........... : Motor plus (+) direction is set as the + direction.
This parameter cannot be changed while the servo is on. To change the parameter,
make sure the servo is off.
[Procedure]
1) Select "16. Motor direction" in "SYSTEM>PARAM>AXIS" mode.
2) Press the (EDIT) key.
F 1
3) Select the axis with the cursor (↑/↓) keys.
Fig. 4-12-29 Setting the "Motor direction"
SYSTEM>PARAM>AXIS
16.Motor direction
M1=–––
m4=–––
––– +++
4) Press the (---) or
F 1
5) Repeat the above steps 3) and 4) if necessary.
6) Press the key to quit the edit mode.
ESC
M2=––– M3=+++
(+++) key.
F 2
12. "SYSTEM" mode
V8.01
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