Yamaha RCX222, User Manual

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Chapter
4
OPERA
TION
11. "MANUAL" mode
11.5.2 Editing the shift coordinate range
By setting the shift coordinate range, the robot operating area can be restricted to the
desired range on each shift coordinate. Moreover, setting the soft limit parameters allows
you to specify the robot work area more precisely.
Shift coordinate range data format
• Plus side
SPn= ±###.## ±###.## ±###.## ±###.##
dPX (mm) dPY (mm) dPZ (mm) dPR (degrees)
• Minus side
SMn= ±###.## ±###.## ±###.## ±###.##
dMX (mm) dMY (mm) dMZ (mm) dMR (degrees) (n=0 to 9)
n
NOTE
• "n" is a shift coordinate number.
[Example]
SP1........ Plus side work area of shift coordinate S1
SM 2...... Minus side work area of shift coordinate S2
• When the plus and minus sides on an axis (x, y, z, r) are both at 0.00, the
work area on that axis is not be restricted.
■
Shift coordinate range
X
X’
Y
Y’
dPX
dMX
dPY
dMY
To edit a shift coordinate range, use the procedure below.
[Procedure]
1) In "MANUAL>SHIFT" mode, use the cursor (
↑
/
↓
) keys to select the shift coordinate
number you want to edit.