Yamaha RCX142 User Manual page 231

c
CAUTION
• YAMAHA can accept no liability
from problems arising due to
changing the return-to-origin
direction without consulting
YAMAHA beforehand.
• Return-to-origin will be
incomplete if this parameter is
changed.
15.Origin direction /ORGDIR
This parameter specifies the direction for return-to-origin. When initialized, this is
automatically set according to the current robot model.
"---" ............. : Axis returns to origin in the manual movement minus (-) direction.
"+++" ........... : Axis returns to origin in the manual movement plus (+) direction.
[Procedure]
1) Select "15. Origin direction" in "SYSTEM>PARAM>AXIS" mode.
2) Press the (EDIT) key.
F 1
3) Select the parameter with the cursor (↑/↓) keys.
Fig. 4-12-28 Setting the "Origin direction"
SYSTEM>PARAM>AXIS
15.Origin 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
V8.35
169
4-
4