Yamaha CEmarking RCX221, User Manual

Page: 213 / 468

4-145
Chapter
4
OPERA
TION
11. "MANUAL" mode
11.9 Setting the standard coordinates
The standard coordinates set for SCARA robots are treated as Cartesian coordinates using
the X-axis rotating center as the coordinate origin.
The following operations and functions are enabled on SCARA robots by setting the
standard coordinates.
n
NOTE
On Cartesian type robots, there is no need to set the standard coordinates.
• Moving robot arm tip at right angles.
• Using pallet definition, SHIFT coordinates and HAND definition.
• Using commands requiring coordinate conversion (such as linear/circular
interpolation and pallet movement commands).
Special parameter setting is required to use this function. Consult us for assistance.