Yamaha RCX240 User Manual page 270

12. "SYSTEM" mode
2. Origin sequence /ORIGIN
This parameter sets a sequence for performing absolute reset and return-to-origin on each axis
1
of the robot. The numbers 3 1 2 4 5 6 are set automatically when the parameters are initialized.
Enter axis numbers of the robot in the sequence for performing return-to-origin. For example,
when the numbers 1, 2, 3, 4, 5, 6 are entered, return-to-origin is performed in sequence from
axis 1 to axis 6.
2
If an axis number is not set, then return-to-origin for that axis number is performed last in the
return-to-origin sequence.
It is recommended to perform return-to-origin first on those axes that might interfere with
surrounding equipment.
n
3
NOTE
Perform origin-return first for those axes that might interfere with surrounding
equipment.
Select "2.Origin sequence" in "SYSTEM>PARAM>ROBOT" mode.
1
4
Press
2
Select the parameter with the cursor (
3
5
6
7
Enter the value with
4
8
n
NOTE
Origin sequence includes both the robot axes and auxiliary axes.
c
CAUTION
9
Emergency stop might be triggered if return-to-origin is simultaneously performed
on three or more axes whose return-to-origin method is the stroke end detection
method. In this case, change the setting so that stroke end return-to-origin is
simultaneously performed on two axes or is performed separately on each axis.
10
Press
5
4-192
Chapter 4 OPERATION
(EDIT).
Setting the "Origin sequence".
to quit the edit mode.
/
to and then press
) keys.
.