Yamaha CEmarking RCX221, Руководство пользователя

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4-169
Chapter
4
OPERA
TION
12. "SYSTEM" mode
12. Offset pulse /OFFSET
On SCARA robots, this parameter sets the offset pulses when the X, Y, R axes are at
0 pulses. When initialized, this is set to a value unique to each robot type that is
currently set.
• X-axis offset pulses ... Angle formed by X axis arm and +X-axis on standard
coordinates (unit: pulses)
• Y-axis offset pulses ... Angle formed by X axis arm and Y axis arm (unit: pulses)
• R-axis offset pulses ... Angle formed by R axis origin and +X-axis on standard
coordinates (unit: pulses)
The offset is determined automatically when the standard coordinates are set.
c
CAUTION
When some value (including 0) has been entered for this parameter, it
means the settings are in standard coordinates.
[Procedure]
1) Select "12. Offset pulse" in "SYSTEM>PARAM>AXIS" mode.
2) Press (EDIT).
3) Select the axis with the cursor (
↑
/
↓
) keys.
■
Setting the "Offset pulse"
SYSTEM >PARAM>AXIS V9.00
12.Offset pulse
M1= 10000 M2= 20000
[+/-6144000] Enter >_
10000
4) Enter the value with to and then press .
5) Repeat the above steps 3) and 4) if necessary.
6) Press to quit the edit mode.