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4
Edit
4-69
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Setting the standard coordinates
3-point teaching
Simple teaching
4-point teaching
Both handed system teaching
L
L
P [ 2 ]
P [ 3 ]
P [ 1 ]
P [ 1 ]
P [ 2 ]
+ X
+ Y
X
Y
P [ 1 ]
P [ 2 ]
D i s t a n c e > 1 0 0 m m
L
CAUTION
When setting the standard coordinates, note the following points.
• Always perform teaching with the same hand system carefully and accurately.
• Set the teach points as near as possible to the center of actual work area and also separate them from each
other as much as possible.
• The plane formed by the robot X and Y-axis movement must be parallel to the actual working plane.
• Perform point teaching at the rotation center of the R-axis.
• The standard coordinate setting accuracy greatly affects the Cartesian coordinate accuracy.
The following parameters are automatically set when the standard coordinates are input.
1) Arm length (mm)
M1 = ###.###
First arm length (distance between the first arm and second arm rotation centers)
M2 = ###.###
Second arm length (distance between the second arm and R-axis rotation centers)
2) Offset pulse
M1 = ######
X-axis offset pulse (angle formed by the first arm when the axis 1 motor is
located at the "0" pulse position and the X-axis of the standard coordinates)
M2 = ######
Y-axis offset pulse (angle formed by the first arm and second arm when the
axis 2 motor is located at the "0" pulse position)
M4 = ######
R-axis offset pulse (angle formed by the R-axis direction when the R-axis
motor is located at the "0" pulse position and the X-axis of the standard
coordinates)
When using multiple robots, set the standard coordinates for each robot.
However, the offset pulse of the R-axis is not set automatically. Set it by editing the parameters directly.
CAUTION
When using multiple robots, be sure to check the current target robot. The robot is changed from the "QUICK
MENU" screen. For details, refer to "5.2 Quick menu" in Chapter 2.
NOTE
• The standard coordinates have been set at shipment.
• The offset pulse value equals the pulse value that axis 1, axis 2, and R-axis move on the X-axis of the standard
coordinates.
Содержание YRCX Series
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