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
Movement of each robot type and the parameter contents are shown below.
1. SCARA robots
1) Hand attached to 2nd arm
a. Robot movement
• Imaginary 2nd arm of hand "n" moves to a specified point as if it were the actual 2nd
arm.
• Imaginary 2nd arm of hand "n" determines whether the robot is in a right-handed
system or left-handed system.
b. Parameter descriptions
Setting units for each parameter are shown in parentheses.
<1st parameter>: Specify with an integer, the difference between the number of offset
pulses of the standard 2nd arm and the number of offset pulses of
the imaginary 2nd arm of hand "n". If counterclockwise, enter a "+"
value. (unit: pulses)
<2nd parameter>: Specify with a real number, the difference between the imaginary
2nd arm length of hand "n" and the standard 2nd arm length.
(unit: mm)
<3rd parameter>: Specify the Z-axis offset amount of hand "n" with a real number.
(unit: mm)
<4th parameter>: No setting for "R".
Hands attached to 2nd arm (SCARA type) (1)
150.00mm
Standard 2nd arm
-5000 pulse
20.00mm
HAND 1
HAND 0
ＭＡＮＵＡＬ ＞ＨＡＮＤ ５０％［ＭＧ］［Ｓ０Ｈ１Ｘ］
１ ２ ３ ４
Ｈ０ ＝ ０ １５０．００ ０．００
Ｈ１ ＝ −５０００ ２０．００ ０．００
Ｈ２ ＝ ０ ０．００ ０．００
Ｈ３ ＝ ０ ０．００ ０．００
［ＰＯＳ］ ６００．００ ０．００ ０．００ ０．００
ＥＤＩＴ ＶＥＬ＋ ＶＥＬ−
Hands attached to 2nd arm (SCARA type) (2)