Yamaha RCX222, Руководство пользователя

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Chapter
4
OPERA
TION
11. "MANUAL" mode
11.5 Displaying, editing and setting shift coordinates
Press (SHIFT) in "MANUAL" mode to enter "MANUAL>SHIFT" mode.
This mode allows you to display, edit and set shift coordinates.
Shift coordinates cannot be used with MULTI type robots.
n
NOTE
Shift coordinates cannot be used with MULTI type robots since the SHIFT/
HAND selection display on the 1st line on the RPB screen appears blank.
By setting shift coordinates, the point data on the Cartesian coordinates ("mm" units) can
be shifted to any desired position within the robot work area. The work area can also be
restricted in each direction.
Up to 10 shift coordinates (shift coordinate numbers 0 to 9) can be set to shift the standard
coordinates in the X and Y (XY plane rotation) directions. Each shift coordinate can specify
the robot operating area.
n
NOTE
• When two robots are specified, the shift data can be shared between
them. Shift coordinate numbers can be set for each robot separately.
• A maximum of 10 shift coordinates can be set per robot.
Shift coordinate data format
Sn= ±###.## ±###.## ±###.## ±###.##
dX (mm) dY (mm) dZ (mm) dR (degrees) (n=0 to 9)
When the shift amount is dX=0.00, dY=0.00, dZ=0.00, dR=0.00, the shift coordinates
equal the standard coordinates.
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Standard coordinates and shift coordinates
X
X’
Y
Y’
dR dR
dY
dX dX