Yamaha RCX40, User Manual

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107
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Operation
11. “MANUAL” mode
11.5.1.1 Restoring shift coordinates
[Procedure]
During shift coordinate data editing, pressing the
F 1
(UNDO) key reverses the last
data input and restores the preceding data.
This function is enabled only on lines that are not yet complete.
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 working area more precisely.
Shift coordinate range data format
• Plus side
SP n=
±
###.##
±
###.##
±
###.##
±
###.##
dPX (mm) dPY (mm) dPZ (mm) dPR (degrees)
• Minus side
SMn=
±
###.##
±
###.##
±
###.##
±
###.##
dMX (mm) dMY (mm) dMZ (mm) dMR (degrees)
(n=0 to 9)
Fig. 4-11-51 Shift coordinate range
X
X' Y
Z'
dMR
Y'
dMZ
dPX
dPZ
dM
X
dPY
dMY
dPR
–
+
To edit a shift coordinate range, use the procedure below.
[Procedure]
1) In “MANUAL>SHIFT” mode, use the cursor (
↑
/
↓
) keys to select the shift coordi-
nate number you want to edit.
n
NOTE
• ”n” is a shift coordinate number.
[Example]
SP1 ......
Plus side working area
of shift coordinate S1
SM 2 .... Minus side working area
of shift coordinate S2
• When the plus and minus sides on
an axis (x, y, z, r) are both at 0.00,
the working area on that axis is
not be restricted.