Yamaha RCX141, User Manual

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Operation
11. “MANUAL” mode
11.6 Displaying, editing and setting hand definitions
Press the
F 7
(HAND) key in “MANUAL” mode to enter “MANUAL>HAND” mode.
This mode allows you to display, edit and set hand definitions. However, the standard
coordinates must be set when a SCARA robot is used. Refer to “11.9 Setting the standard
coordinates” for details.
Hand definitions cannot be used with MULTI type robots.
Four kinds of hand definitions can be set to change the robot working points with standard
coordinate settings to the working points of the hand installed to the 2nd arm (Y-axis) or
the R-axis.
This function allows movement using different hands towards point data in the same
Cartesian coordinate format.
• Data format for hand definition
Hn=
±
aaaaaa
±
bbbbbb
±
cccccc [R]
(main robot : n = 0 to 3 / sub robot : n = 4 to 7)
1st parameter ................
±
aaaaaa
Enter a number consisting of an integer portion of up to
5 digits and having 2 or less places below the decimal
point, or an integer of up to 7 digits (depending on the
robot type setting and hand definition type).
2nd to 3rd parameters ..
±
bbbbbb,
±
cccccc
Enter a number consisting of an integer portion of up to
5 digits and having 2 or less places below the decimal
point.
4th parameter ...............
R
Enter one character (depending on the hand definition
type).
When all values for a hand definition are “0”, this means the hand definition is not set.
On entering “MANUAL>HAND” mode, a screen like that shown in Fig. 4-11-65, Fig. 4-
11-66 or Fig. 4-11-67 appears.
The currently selected hand definition number is highlighted.
Fig. 4-11-65 Hand definition screen (one-robot setting)
MANUAL >HAND
50% [MG][S0H1X]
————————————1———————2———————3———————4———
H0 = 0 0.00 0.00
H1 = 0.00 100.00 0.00 R
H2 = 90.00 100.00 100.00 R
H3 = 8000 100.00 100.00
[POS] 600.00 0.00 0.00 0.00
EDIT VEL+ VEL-
n
NOTE
When two robots (main and sub
robots) are specified, hand definitions
data cannot be shared between them.
The main robot uses H0 - H3, and the
sub robot H4 - H7 for hand definition
data.
n
NOTE
Hand definition data cannot be used
with MULTI type robots since the
SHIFT/HAND selection display on the
1st line on the MPB screen appears
blank.