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14. Origin method /ORGSNS
This parameter selects the method for performing return-to-origin or absolute search
on the robot. When initialized, this is automatically set according to the current
robot model. Three methods are available as follows:
"sensor" ...... Origin is detected by sensor input.
"torque" ..... Origin is detected when the axis moves against the mechanical stroke
end.
"mark" ........ This method cannot be used with the RCX221.
c
CAUTION
• YAMAHA can accept no liability from problems arising due to changing
the return-to-origin method without consulting YAMAHA beforehand.
• Return-to-origin will be incomplete if this parameter is changed.
[Procedure]
1) Select "14. Origin method" in "SYSTEM>PARAM>AXIS" mode.
2) Press
(EDIT).
3) Select the axis with the cursor ( ↑ / ↓ ) keys.
■ Setting the "Origin method"
SYSTEM>PARAM>AXIS
14.Origin method
M1=SENSOR
SENSOR
TORQUE
4) Press one of
5) Repeat the above steps 3) and 4) if necessary.
6) Press
to quit the edit mode.
M2=SENSOR
MARK
(SENSOR),
(TORQUE) or
12. "SYSTEM" mode
V9.00
(MARK).
Chapter
4
4-171
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