Okura Yusoki A Series Manual page 97

6.1.3. Memory switch
The memory switches are used as method to control function allocated at the CPU
board. The switches are set at factory and are crucial to the robot performing well.
You can display this screen from menu bar-[Registration] - [System parameter] -
[Memory switch].
Note
Do not change the switches unless instructed to be a Okura robot dealer.
The upper screen is a reference setup. Usually, it is set as the suitable state for every
system.
Name
T-axis spining
direction
SW1
1-1
1-2 Not in use
1-3 C-axis
1-4 Type of A300
Robot control
1-5
signals
Program 0
movement
1-6
ON
T-axis spins to designated
position, not taking shortcut
direction. This intended to be
used for aging. Example, in
case target position is -179
degrees when currnet position
is 179 degrees, it moves
around until -179, spinig 358
degrees.
C-axis available
A300S
X and Y are used.
It goes up then moves to 0
position after arm retracts
furthest back first and R-axis
spins to 0.
In this movement, the
program 0 needs to be
changed as follows:
The three inst
D1=D2+1
MOV 1
WTARM
6-5
OFF
T-axis spins, taking
shortcut direction.
In the left case, it
spins the other way
until 181, sping 2
degrees only.
No C-axis
A300 (Standard)
M and D are used.
It goes up then
moves to 0 position.
(Standard movement)
Factory
Type
default
All OFF
All OFF
All OFF
All OFF
All OFF
All OFF