Yamaha RCX142, User Manual

Page: 227 / 450

4-
165
4
Operation
12. “SYSTEM” mode
11.Arm length [mm] /ARMLEN
This parameter sets the X, Y axis arm length on SCARA robots.
This is automatically determined according to the current robot type when initialized.
The arm length is also determined automatically when standard coordinates are set.
On XY robots and MULTI type robots, setting the axis length also automatically de-
termines the weight of each axis. This is set to 0 when initialized.
[Procedure]
1) Select “11. Arm length [mm]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (
↑
/
↓
) keys.
Fig. 4-12-24 Setting the “Arm length [mm]”
SYSTEM >PARAM>AXIS V8.35
11.Arm length[mm]
M1= 200.00 M2= 200.00 M3= 0.00
m4= 0.00
[0-10000] Enter >_ 200.00
4) Enter the value with the
0
to
9
, and . 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.