Omron R6Y Series, Руководство пользователя

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CHAPTER 4 Adjustment
5 Setting the Standard Coordinates
Setting the standard coordinates enables the following operations and func-
tions.
1. Optimizes acceleration according to arm position during automatic
operation.
2. Allows moving robot arm tip at right angles.
3. Allows using shift coordinates.
4. Enables commands such as linear interpolation and arm switching.
The procedure for setting standard coordinates and cautions are shown below.
1) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
2) Check that the soft limits are correctly set.
If not correctly set, adjust the soft limits while referring to the description
of "4 Setting the Soft Limits" in Chapter 4.
3) Place a sign indicating the robot is being adjusted, to keep others from
operating the controller or operation panel.
4) Enter the safeguard enclosure while holding the PB. Stay outside the robot
movement range at this time.
5) Make the standard coordinate settings while referring to methods for
"Setting the Standard Coordinates" as explained in the "OMRON Robot
Controller User's Manual". Never enter within the robot movement range.
6) When the standard coordinate settings are complete, check the following
points from outside the safeguard enclosure.
1. Check that the robot arm tip can move at right angles in MANUAL
operation (cartesian coordinates).
2. Check that the values nearly equal to the X-axis and Y-axis arm lengths
are entered in "Arm length" of the axis parameters.
If the above points are not satisfied, the standard coordinate settings are in-
correct, so make the standard coordinate settings again.
CAUTION
IF THE STANDARD COORDINATE SETTINGS ARE INCORRECT, THE
ACCELERATION CANNOT BE OPTIMIZED TO MATCH THE ARM
POSITION. THIS RESULTS IN TOO SHORT A SERVICE LIFE, DAMAGE TO
THE DRIVE UNIT, OR RESIDUAL VIBRATION DURING POSITIONING. IN
ADDITION, THE CARTESIAN COORDINATE ACCURACY WILL BE
IMPAIRED.