Yamaha RCX141 User Manual page 204

12. "SYSTEM" mode
n
NOTE
Perform origin-return or absolute
search first for those axes that might
interfere with surrounding equipment.
4
n
NOTE
Origin sequence includes both the
robot axes and auxiliary axes.
c
CAUTION
Emergency stop might be triggered if
return-to-origin or absolute search is
simultaneously performed on three or
more axes whose return-to-origin
method is the stroke end detection
method. In this case, change the
setting so that stroke end return-to-
origin or absolute search is
simultaneously performed on two
axes or is performed separately on
each axis.
146
4-
2. Origin sequence /ORIGIN
This parameter sets a sequence for performing return-to-origin or absolute search on
each axis of the robot to determine the reference position. The numbers 3 1 2 4 5 6 are
set automatically when the parameters are initialized.
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.
If an axis number is not set, then return-to-origin for that axis number is performed
last in the return-to-origin sequence. This is the same for absolute search.
It is recommended to perform return-to-origin first on 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
V8.30
key.