Yamaha RCX240, User Manual

Page: 271 / 620

4-192
Chapter 4 OPERATION
4
1
2
3
5
6
7
8
9
10
Chapter 4 OPERATION
4-193
12. "SYSTEM" mode
3. R-axis orientation /RORIEN
On SCARA robots, this parameter sets whether or not to maintain the R-axis direction
(orientation) when moving manually across the XY axes. The R direction (orientation) is
automatically set when the parameters are initialized.
If the R-axis direction has been set (held) and the arm tip is moved in the X or Y directions, the
R-axis automatically rotates to maintain its direction.
This is effective only on SCARA robots.
n
NOTE
This parameter is valid only on SCARA robots.
1
Select "3.R axis orientation" in "SYSTEM>PARAM>ROBOT" mode.
2
Press (EDIT).
3
Select the parameter with the cursor ( / ) keys.
ＳＹＳＴＥＭ ＞ＰＡＲＡＭ＞ＲＯＢＯＴ Ｖ１０．０１
３．Ｒ ａｘｉｓ ｏｒｉｅｎｔａｔｉｏｎ
ＭＲ＝ ＫＥＥＰ
ＫＥＥＰ ＦＲＥＥ
Setting the "R axis orientation"
4
Press (KEEP) or (FREE) to enter the setting.
5
Press to quit the edit mode.
n
NOTE
This function is invalid if there is no R-axis or the R-axis is an auxiliary axis.