Omron YRCX Series Operation Manual page 136

Tip weight (g) ‹WEIGHTG›
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The tip weight (workpiece weight + tool weight) of the robot is set in "g" units.
When this parameter is initialized, the value of the tip weight will be set depending on the robot model.The maximum
value is determined by the robot model that has been set.
CAUTION
When a value lower than the actual tip weight is set, this may adversely affect the robot main body. Therefore, be
sure to input a correct value.
NOTE
• The tip weight of the axes specified as auxiliary axis are set on the axis tip weight of the axis parameter.
• If both of Tip weight parameters; <WEIGHT> and <WEIGHTG> are set, a total value will be set.
Example: WEIGHT = 2, WEIGHTG = 500; Tip weight = 2.5 kg (2500 g)
Origin sequence ‹ORGORD›
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This parameter sets the order of return-to-origin operation using the axis number (1 to 6).
4
Axes perform return-to-origin operation in order from the left end. Axes that are not set finally perform return-to-origin
operation at the same time. When this parameter is initialized, "312456" is set.
CAUTION
When performing return-to-origin of three or more axes with the return-to-origin method set at the stroke end
method, the emergency stop may be activated.
At this time, change the stroke end return-to-origin method to simultaneous two axes or return-to-origin of each axis.
NOTE
• Perform return-to-origin operation from an axis that may interfere with a peripheral device.
• This order includes the robot axis and axillary axis.
When different position detection methods (absolute specifications or incremental specifications) are mixed in
one robot, the order of return-to-origin operations may vary depending on the return-to-origin method.
Example:
Robot axis configuration:
Return-to-origin order setting:
Position detection method of each axis: Axis 1, axis 2
1. Return-to-origin operations of only the absolute type axes are performed.
Return-to-origin operations of only the absolute type axes are performed from the left end of the return-to-
origin order setting in order.
Axis 3 operation
2. Return-to-origin operations of only the incremental type axes are performed.
Return-to-origin operations of only the incremental type axes are performed from the left end of the return-
to-origin order setting in order.
Axis 3 cancel
3. Return-to-origin operations of both the absolute type and incremental type axes are performed.
First, return-to-origin operations of the absolute type axes are performed from the left end of the return-to-
origin order setting in order.
Subsequently, return-to-origin operations of the incremental type axes are performed in the same manner.
Axis 3 operation
Axis 3 cancel
4-50
Axis 1, axis 2, axis 3, axis 4
312456
3 1
Axis 1 cancel
3 1
Axis 1 operation
3 1
Axis 1 cancel
3 1
Axis 1 operation
Incremental specifications
Axis 3, axis 4 Absolute specifications
2 4
Axis 2 cancel 4 operation
2 4
Axis 2 operation Axis 4 cancel
2 4
Axis 2 cancel Axis 4 operation
2 4
Axis 2 operation Axis 4 cancel
5 6
Axis 5 cancel Axis 6 cancel
5 6
Axis 5 cancel Axis 6 cancel
5 6
Axis 5 cancel Axis 6 cancel
5 6
Axis 5 cancel Axis 6 cancel