Yamaha CEmarking RCX221, Руководство пользователя

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4-130
Chapter
4
OPERA
TION
11. "MANUAL" mode
Movement of each robot type and the parameter contents are shown below.
Setting units for each parameter are shown in parentheses.
Cartesian robots
1) Hand attached to 2nd arm
a. Robot movement
• Hand "n" moves to a specified point.
b. Parameter descriptions
<1st parameter>: Specify the X-axis offset amount of hand "n" with a real number.
(unit: mm)
<2nd parameter>: Specify the Y-axis offset amount of hand "n" with a real numbers.
(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".
■
Hands attached to 2nd arm (Cartesian type) (1)
Y
X
− 1 0 0 . 0 0 m m
− 1 0 0 . 0 0 m m
H A N D 1
H A N D 0
■
Hands attached to 2nd arm (Cartesian type) (2)
MANUAL >HAND 50% [MG][S0H1X]
————————————1———————2———————3———————4———
H0 = 0.00 0.00 0.00
H1 = -100.00 -100.00 -100.00
H2 = 0.00 0.00 0.00
H3 = 0.00 0.00 0.00
[POS] 600.00 0.00 0.00 0.00
EDIT VEL+ VEL-