Yamaha RCX142, Руководство пользователя

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Operation
11. “MANUAL” mode
The following parameters are automatically set when the standard coordinates are entered.
1) “Arm length [mm]”
M1= ###.## ...... X-axis arm length (distance to rotation center X-axis and Y-axis)
M2= ###.## ...... Y-axis arm length (distance to rotation center of Y-axis and R-axis,
or distance to rotation center of Y-axis and working point)
2) “Offset pulse”
M1= ###### ..... X-axis offset pulse (angle formed by the X-axis when the robot is
at the origin (0 pulse) position and the X-axis on the standard
coordinate plane)
M2= ###### ..... Y-axis offset pulse (angle formed by the X-axis and Y-axis when
the robot is at the origin (0 pulse) position)
M4= ###### ..... R-axis offset pulse (angle formed by the R-axis when the robot is
at the origin (0 pulse) position and the X-axis on the standard
coordinate plane)
When two robots (main and sub robots) are specified, the following parameters are also
entered automatically for the sub robot.
1) “Arm length [mm]”
S1= ###.## ........ X-axis arm length (distance to rotation center X-axis and Y-axis)
S2= ###.## ........ Y-axis arm length (distance to rotation center of Y-axis and R-axis,
or distance to rotation center of Y-axis and working point)
2) “Offset pulse”
S1= ###### ....... X-axis offset pulse (angle formed by the X-axis when the robot is at
the origin (0 pulse) position and the X-axis on the standard coordinate
plane)
S2= ###### ....... Y-axis offset pulse (angle formed by the X-axis and Y-axis when the
robot is at the origin (0 pulse) position)
S4= ###### ....... R-axis offset pulse (angle formed by the R-axis when the robot is at
the origin (0 pulse) position and the X-axis on the standard coordinate
plane)
However, the R-axis offset is not entered automatically. Set it in
“SYSTEM>PARAM>AXIS” mode.
c
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 axes must be parallel to the
actual working plane.
• If the robot has an R-axis,
perform point teaching at the
rotation center of the R-axis.
• The standard coordinate setting
accuracy greatly affects the
overall Cartesian coordinate
precision.