Yamaha RCX141, User Manual

Page: 163 / 402

4-
105
4
Operation
11. “MANUAL” mode
11.5 Displaying, editing and setting shift coordinates
Press the
F 6
(SHIFT) key in “MANUAL” mode to enter “MANUAL>SHIFT” mode.
This mode allows you to display, edit and set shift coordinates. However, the standard
coordinates must be set when a SCARA robot is used. Refer to “11.9 Setting the standard
coordinates” for details.
Shift coordinates cannot be used with MULTI type robots.
By setting shift coordinates, the point data on the Cartesian coordinates (“mm” units) can
be shifted to any desired position within the robot work area. The work area can also be
restricted in each direction.
Up to 10 shift coordinates (shift coordinate numbers 0 to 9) can be set to shift the standard
coordinates in the X, Y, Z and R (XY plane rotation) directions. Each shift coordinate can
specify the robot operating area.
• Shift coordinate data format
Sn=
±
###.##
±
###.##
±
###.##
±
###.##
dX (mm) dY (mm) dZ (mm) dR (degrees)
(n=0 to 9)
When the shift amount is dX=0.00, dY=0.00, dZ=0.00, dR=0.00, the shift coordinates
equal the standard coordinates.
Fig. 4-11-50 Standard coordinates and shift coordinates
X
Standard coordinate
X' Y
dX
dY
dR
Y'
–
+
Z-axis origin
dZ
Shift coordinate
n
NOTE
• When two robots (main and sub
robots) are specified, the shift data
can be shared between them. Shift
coordinate numbers can be set for
each robot separately.
• A maximum of 10 shift coordinates
can be set per robot.
n
NOTE
Shift coordinates cannot be used with
MULTI type robots since the SHIFT/
HAND selection display on the 1st line
on the MPB screen appears blank.