Omron YRCX Series, Руководство по эксплуатации

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4
Edit
4-27
4.1.1 SCARA type robots
1. Hand attached to 2nd arm
a. Robot movement
• Imaginary 2nd arm of hand "n" moves to a specified point as if it were the actual 2nd arm.
• Imaginary 2nd arm of hand "n" determines whether the robot is in a right-handed system or left-handed system.
b. Parameter descriptions
<1st parameter>: Specify with an integer, the difference between the number of offset pulses of the standard
2nd arm and the number of offset pulses of the imaginary 2nd arm of hand "n".
If counterclockwise, input a "+" value. (unit: pulses)
<2nd parameter>: Specify with a real number, the difference between the imaginary 2nd arm length of hand "n"
and the standard 2nd arm length. (unit: mm)
<3rd parameter>: Specify the Z-axis offset amount of hand "n" with a real number. (unit: mm)
<4th parameter>: No setting for "R".
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Hands attached to 2nd arm (SCARA type)
15
0.
00
m
m
20.00mm
HAND 1
HAND 0
Standard 2nd arm
-5000 pulse
Input example
H0: H1:
ROBOT : 1 (Robot number) ROBOT : 1 (Robot number)
1 : 0 (Pulse) 1 : -5000 (Pulse)
2 : 150.00 (mm) 2 : 20.00 (mm)
3 : 0.00 (mm) 3 : 0.00 (mm)
4 : No input 4 : No input
2. Hand attached to R-axis
a. Robot movement
The tip of hand "n" moves to a specified point. The direction of hand "n" changes according to the R
coordinate of the point.
Even if hand "n" is between obstacles, it can move while avoiding the obstacles. Hand "n" moves in
parallel to or perpendicular to its direction.
b. Parameter descriptions
<1st parameter> : When the current R-axis position is 0.00, specify with a real number the angle between the
+X direction of Cartesian coordinates and hand "n".
If counterclockwise, input a "+" value. (unit: degrees)
<2nd parameter> : Specify the length of hand "n" with a positive real number. (unit: mm)
<3rd parameter> : Specify the Z-axis offset amount of hand "n" with a real number. (unit: mm)
<4th parameter> : Specify "R".