Yamaha RCX141 User Manual page 220

12. "SYSTEM" mode
4
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.
162
4-
14.Origin method /ORGSNS
This parameter selects the method for performing return-to-origin or absolute search
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" ......... : This method cannot be used with the RCX141.
[Procedure]
1) Select "14. Origin method" in "SYSTEM>PARAM>AXIS" mode.
2) Press the (EDIT) key.
F 1
3) Select the axis with the cursor (↑/↓) keys.
Fig. 4-12-27 Setting the "Origin method"
SYSTEM>PARAM>AXIS
14.Origin method
M1=SENSOR
M4=TORQUE
SENSOR TORQUE
4) Press one of the
F 1
5) Repeat the above steps 3) and 4) if necessary.
6) Press the key to quit the edit mode.
ESC
M2=SENSOR M3=TORQUE
MARK
(SENSOR), (TORQUE) or
F 2
V8.30
(MARK) keys.
F 3