Yamaha RCX141, User Manual

Page: 206 / 402

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148
Operation
4
12. “SYSTEM” mode
4. Armtype at PGM reset/ARMTYP
On SCARA robots, it is necessary to set left-handed or right-handed system when
moving along XY coordinates or converting point data. This parameter is used to set
the initial hand system when the program is reset. The right-handed system is selected
when the parameters are initialized.
This is effective only on SCARA robots.
[Procedure]
1) Select “4. Armtype at PGM reset” in “SYSTEM>PARAM>ROBOT” mode.
2) Press the
F 1
(EDIT) key.
3) Select the parameter with the cursor (
↑
/
↓
) keys.
Fig. 4-12-9 Setting the “Armtype at PGM reset”
SYSTEM >PARAM>ROBOT V8.30
4. Armtype at PGM reset
MR= RIGHTY
RIGHTY LEFTY
4) Press the
F 1
(RIGHTY) key or the
F 2
(LEFTY) key to select the hand sys-
tem.
5) Press the
ESC
key to quit the edit mode.
n
NOTE
This parameter is valid only on SCARA
robots.