Yamaha RCX222, User Manual

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Chapter
4
OPERA
TION
12. "SYSTEM" mode
8. 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.
n
NOTE
• This parameter is supported by controllers of Ver. 9.08 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. 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 start-up even if T (mm/°) is selected by parameter.
[Procedure]
1) Select "8. Unit select" in "SYSTEM>PARAM>OTHERS" mode.
2) Press (EDIT).
The function key menu changes.
■
Setting "Unit select"
SYSTEM >PARAM>OTHERS V9.08
Normal J(pls) X(mm/°) T(mm/°)
4.DO cond. on EMG HOLD
5.Incremental Mode INVALID
6.DI noise filter VALID
7.TRUE condition -1
8.Unit select Normal
3) Press a key from (Normal) to (mm/°) to enter the unit system.
Setting Meaning
Normal (default setting) Sets to the unit system that was last selected.
J (pls) Sets to "pulses" unit system.
X (mm/°)
Sets "mm" unit system in normal setting (other than tool
coordinate mode).
T (mm/°) Sets "mm" unit system in tool coordinate mode.
4) Press to quit the edit mode.