Yamaha RCX240, User Manual

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Chapter 4 OPERATION
11. "MANUAL" mode
Chapter 4 OPERATION
4-125
11.5 Displaying, editing and setting shift coordinates
Press (SHIFT) in "MANUAL" mode to enter "MANUAL>SHIFT" mode.
This mode allows you to display, edit and set shift coordinates. However, the standard coordinates
must be set when a SCARA robot is used. Refer to "11.10 Setting the standard coordinates" for
details.
Shift coordinates cannot be used with MULTI type robots.
n
NOTE
Shift coordinates cannot be used with MULTI type robots since the SHIFT/HAND
selection display on the 1st line on the RPB screen appears blank.
By setting shift coordinates, the point data on the Cartesian coordinates ("mm" units) can be shifted
to any desired position within the robot work area. The work area can also be restricted in each
direction.
Up to 10 shift coordinates (shift coordinate numbers 0 to 9) can be set to shift the standard
coordinates in the X, Y, Z and R (XY plane rotation) directions. Each shift coordinate can specify
the robot operating area.
n
NOTE
• When two robots (main and sub robots) are specified, the shift data can be
shared between them. Shift coordinate numbers can be set for each robot
separately.
• A maximum of 10 shift coordinates can be set per robot.
Shift coordinate data format
Sn= ±###.## ±###.## ±###.## ±###.##
dX (mm) dY (mm) dZ (mm) dR (degrees)
(n=0 to 9)
When the shift amount is dX=0.00, dY=0.00, dZ=0.00, dR=0.00, the shift coordinates equal the
standard coordinates.
Standard coordinates and shift coordinates
X
Standard coordinate
X' Y
dX
dY
dR
Y'
–
+
Z-axis origin
dZ
Shift coordinate