Original Position

Direction for returning the fingers to their original positions

This parameter is used for specifying the direction in which the fingers return to their original positions.

0: Opening direction 1: Closing direction

If setting the direction in which the fingers return to their original positions to “0: OPEN”, the closing direction will become a positive direction, then the fingers move in the closing direction.

If the direction in which the fingers return to their original positions is set to the opening direction, the closing direction will become positive direction.

Speed for returning the fingers to their original positions

This parameter is used for setting the speed at which the fingers move back to their original positions.

Input rage: 20～50（%）

Initial value: 20%

Original position shift

This parameter is used for shifting the coordinate position of original data by the parameter value specified as original position shift.
Input range: -99.99～99.99 （in 0.01mm）
Initial value: 0

If this parameter is specified, there is no need to reentry point data in the case of misalignment of original positions during product maintenance. Zero point shift should be set within the soft limit.

Original position return system

This parameter is used for changing the method in which the fingers return to their original positions.
0: Stroke end
1: S stroke end + Z phase detection system 
Initial value: 1

After a stroke end is detected, the fingers are reversed until Z phase is detected. If the reversed distance until Z phase is detected is important, change the parameter value of the method for returning to original positions to “0: stroke end” to adjust the reversed distance to 0.5mm (0.7mm for SS-42 model).