Yamaha RCX240, User Manual

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Chapter 4 OPERATION
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Chapter 4 OPERATION
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12. "SYSTEM" mode
11. Arm length [mm] /ARMLEN
This parameter sets the X, Y axis arm length on SCARA robots.
This is automatically determined according to the current robot type when initialized.
The arm length is also determined automatically when standard coordinates are set.
On XY robots and MULTI type robots, setting the axis length also automatically determines the
weight of each axis. This is set to 0 when initialized.
1
Select "11. Arm length [mm]" in "SYSTEM>PARAM>AXIS" mode.
2
Press (EDIT).
3
Select the axis with the cursor ( / ) keys.
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Ｍ１＝ ２００．００ Ｍ２＝ ２００．００ Ｍ３＝ ０．００
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Setting the "Arm length [mm]"
c
CAUTION
On SCARA robots, the arm length and offset pulses are used to change coordinates
to the Cartesian coordinate system. Make sure the arm length setting is accurate so
the Cartesian coordinates can be used effectively and with high precision.
4
Enter the value with to , and and then press .
5
Repeat steps 3 and 4 as needed.
6
Press to quit the edit mode.