Parameter Setting - Okura Yusoki A Series Manual

6. Parameter setting

Parameter has important robot setting data. For protection of data register the
password. OXPA-QmII asks input the password only once at executed.
For setting password execute the password command. From menu bar-[Utilities] -
[Password registration], for first execute the OXPA-QmII leave the blank in the
password field.
6.1.
System parameter
6.1.1. Soft limit
Select the "soft limit" command from menu bar-[Registration] - [System parameter]
- [Soft limit]. Soft limit screen will display.
Soft limit:
Soft limit is determines the maximum operation range of the R, D, O and T axis. The
coordinates of the soft limit are shown in degree of rotation.
Input the maximum operation range of the R, D, O and T axis by degrees.
Origin offset:
The origin offset is used to adjust the robot origin point relative the encoder and its
pulse count. The robot origin points is the point where the robot positions itself after
finding the encoder pulse origin, it is not where the robot axes equal zero or where
the robot moves to in program 0. The value of the origin offset is the encoder pulse
shift between the encoder pulse origin (Z-pulse) and the position where the robot
found the limit switch determining origin.
6-1