Yamaha RCX240, User Manual

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Chapter 4 OPERATION
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Chapter 4 OPERATION
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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
SP n= ±###.## ±###.## ±###.## ±###.##
dPX (mm) dPY (mm) dPZ (mm) dPR (degrees)
(n=0 to 9)
• 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'
Z'
Y
dMR
Y'
dMZ
dPX
dPZ
dMX
dPY
dMY
dPR
–
+
To edit a shift coordinate range, use the procedure below.
1
In "MANUAL>SHIFT" mode, use the cursor ( / ) keys to select
the shift coordinate number you want to edit.