Yamaha RCX141, User Manual

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4-
147
4
Operation
12. “SYSTEM” mode
3. R-axis orientation /RORIEN
On SCARA robots, this parameter sets whether or not to maintain the R-axis direction
(orientation) when moving manually across the XY axes. The R direction (orienta-
tion) is automatically set when the parameters are initialized.
If the R-axis direction has been set (held) and the arm tip is moved in the X or Y
directions, the R-axis automatically rotates to maintain its direction.
This is effective only on SCARA robots.
[Procedure]
1) Select “3.R axis orientation” in “SYSTEM>PARAM>ROBOT” mode.
2) Press the
F 1
(EDIT) key.
3) Select the parameter with the cursor (
↑
/
↓
) keys.
Fig. 4-12-8 Setting the “R axis orientation”
SYSTEM >PARAM>ROBOT V8.30
3.R axis orientation
MR= KEEP
KEEP FREE
4) Press the
F 1
(KEEP) key or the
F 2
(FREE) key.
5) Press the
ESC
key to quit the edit mode.
n
NOTE
This parameter is valid only on SCARA
robots.
n
NOTE
This function is invalid if there is no R-
axis or the R-axis is an auxiliary axis.