Yamaha RCX141, User Manual

Page: 218 / 402

4-
160
Operation
4
12. “SYSTEM” mode
12.Offset pulse /OFFSET
On SCARA robots, this parameter sets the offset pulses when the X, Y, R axes are at 0
pulses. When initialized, this is set to a value unique to each robot type that is cur-
rently set.
• X-axis offset pulses ........... Angle formed by X axis arm and +X-axis on standard
coordinates (unit: pulses)
• Y-axis offset pulses ............ Angle formed by X axis arm and Y axis arm (unit: pulses)
• R-axis offset pulses ........... Angle formed by R axis origin and +X-axis on standard
coordinates (unit: pulses)
The offset is determined automatically when the standard coordinates are set.
[Procedure]
1) Select “12. Offset pulse” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (
↑
/
↓
) keys.
Fig. 4-12-25 Setting the “Offset pulse”
SYSTEM >PARAM>AXIS V8.30
12.Offset pulse
M1= 10000 M2= 20000 M3= 0
m4= 1000
[+/-6144000] Enter >_
10000
4) Enter the value with the
0
to
9
keys and then press the key.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
c
CAUTION
• On SCARA robots, the arm
length and offset pulses are used
to change coordinates to the
Cartesian coordinate system.
Make sure the arm length setting
is accurate so the Cartesian
coordinates can be used
effectively and with high
precision.
• When some value (including 0)
has been entered for this
parameter, it means the settings
are in standard coordinates.