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8
8-72 Chapter 8 Robot Language Lists
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HAND
2. When the <
4th parameter
> "R" is specified
The hands that are offset from the R-axis rotating center are selected (see below).
1st parameter
.................... When the current position of R-axis is 0.00, this parameter shows
the angle of hand "n" from the X-axis plus direction in a Cartesian
coordinate system. ("+"indicates the counterclockwise direction.)
[degree]
2nd parameter
.................. Length of hand "n". [mm] (>0)
3rd parameter
................... Z-axis offset amount for hand "n". [mm]
Standard 2nd arm
150.00mm
100.00mm
Hand 2
Hand 1
X
Y
-90.00 deg.
33804-R9-00
SAMPLE
HAND H1=
0.00
150.0
0.0
R
HAND H2=
-90.00
100.00
0.0
R
P1=
150.00
300.00 0.00 0.00 0.00 0.00
CHANGE H1 ····················· Hand of robot 1 changes to hand 1.
MOVE P,P1 ····················· Tip of hand 1 moves to P1.
CHANGE H2 ····················· Hand of robot 1 changes to hand 2.
MOVE P,P1 ····················· Tip of hand 2 moves to P1.
HALT
SAMPLE:HAND
Y
X
X
Y
Hand 1
(150.00, 300.00)
Hand 2
(150.00, 300.00)
33804-R7-00
Содержание SCARA YRCX Series
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Страница 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
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Страница 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
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Страница 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
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Страница 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
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