Omron YRCX Series, Руководство по эксплуатации

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4
Edit
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5.1 Data format of work definition
Wn:
X : ± #####.###
Y : ± #####.###
Z : ± #####.###
R : ± #####.###
Item Input range Description Unit
Work definition number (n) 0 to 39 mm
X-coordinate Offset
Numeric value consisting
of an integer portion of up
to 4 digits and having 3 or
less places below the
decimal point
Specifies X-coordinate Offset amount from the tip of the
robot (the tip of the tool with hand definition) of the work "n"
with real number.
mm
Y-coordinate Offset
Specifies Y-coordinate Offset amount from the tip of the
robot (the tip of the tool with hand definition) of the work "n"
with real number.
mm
Z-coordinate Offset
Specifies Z-coordinate Offset amount from the tip of the
robot (the tip of the tool with hand definition) of the work "n"
with real number.
mm
R-coordinate Offset
Specifies the angle of + X-direction of the Cartesian
coordinate and work "n" when R-coordinate current position
of the tip of the robot (the tip of the tool with hand definition)
is "0.00".
Input positive value for counterclockwise value.
degree
* Setting all work definition values to "0" means that no work definition is set.
■
Robot Movement
The robot moves the tip of the work "n" to the specified point. The direction of the work "n" changes depending on
R-coordinate value of the point, which enables the tip to move the target position (i.e. installation position) with
the position and angle based on the work "n". The robot moves in parallel / vertical direction to the work "n".
■
Example
Moving the robot with Point A as the operating point along Plane B
X 115.000mm
Y -50.000mm
Z 0.000mm
R 30.000
°
Y
X
50.000 mm
A
B
30.000°
115.000 mm
5.2 Creating new work definitions
New work definitions are created.
Valid keys and submenu descriptions on the "CREATING NEW WORK" screen (Edit Work Definition New)
are shown below.
Valid keys Menu Function
/ Specifies the work data.
Switches between the "insert" and "overwrite" modes alternately.
Deletes one character immediately before the cursor position.
Deletes one character at the cursor position.
Returns to the previous screen.
NOTE
The hand definition cannot be edited without creating it newly. Set the hand definition after creating it newly.