Yamaha RCX141, User Manual

Page: 229 / 402

4-
171
4
Operation
12. “SYSTEM” mode
10.Unit select / PTUNIT
This parameter selects the point data unit system to be used when the controller is
started. For incremental specification robots and semi-absolute specification robots,
the current position is displayed in “pulse” units at controller startup because return-
to-origin is incomplete. When this parameter is used to select “mm” units, the position
display is switched to “mm” units at the same time when return-to-origin is completed.
This parameter is set to “Normal” when the parameters are initialized.
Setting
Normal (default setting)
J (pls)
X (mm/
°
)
T (mm/
°
)
Meaning
Sets to the unit system that was last selected.
Sets to "pulses" unit system.
Sets "mm" unit system in normal setting (other than tool coordinate mode).
Sets "mm" unit system in tool coordinate mode.
[Procedure]
1) Select “10. Unit select” in “SYSTEM>PARAM>OTHERS” mode.
2) Press the
F 1
(EDIT) key.
The function key menu changes.
Fig. 4-12-39 Setting “Unit select”
SYSTEM >PARAM>OTHERS
Normal J(pls) X(mm/
°
) T(mm/
°
)
10.Unit select Normal
6.Incremental Mode control
INVALID
7.IO cmd(DI05) on STD.DIO
INVALID
9.TRUE condition -1
8.DI noise filter
VALID
V8.63
3) Press a key from
F 1
(Normal) to
F 4
(mm/
°
) to enter the unit system.
4) Press the
ESC
key to quit the edit mode.
n
NOTE
• This parameter is supported by
controllers of Ver. 8.63 onwards.
• Tool coordinate mode is enabled
when the robot has an R-axis and the
hand installed on the R-axis is
specified by hand data (hand
definition is set). If the robot does not
have an R-axis or the hand installed
on the R-axis is not specified by hand
data, the unit system will be
automatically changed to X (mm/
°
)
after starting the controller even if
T (mm/
°
) is selected by parameter.