Okura Yusoki A Series Manual page 95

When the robot type "GANTRY" is
Teaching area:
The teaching limit determines the area where robot teaching is possible. The
teaching area confines the standard pattern size to points within the range. Points
outside the teaching area and within the soft limit range can be stored as positions of
a pattern. The coordinates of the teaching area in arm coordinates.
Origin length:
Distance of origin point at the time of teaching job and origin point of the robot itself
is input. When teaching it does with origin point of the robot itself, please input zero.
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.
R area:
This is for setting the range of notifying other control equipment about the current
position of the robot's AX. For the AX position, the range set with teaching area is
divided into 7 segments. These segments are labeled 1-7, in order from the AX
position minus side. For the value indicating the segment in system parameters, set
using the border position on the plus side for segments 1-6. Relay output is provided
to indicate which segment (1-7) the robot is at.
6-3