Yamaha RCX240, Руководство пользователя

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Chapter 4 OPERATION
11. "MANUAL" mode
Chapter 4 OPERATION
4-139
11.6 Displaying, editing and setting hand definitions
Press (HAND) in "MANUAL" mode to enter "MANUAL>HAND" mode. This mode allows you
to display, edit and set hand definitions. However, the standard coordinates must be set when a
SCARA robot is used. Refer to "11.10 Setting the standard coordinates" for details.
Hand definitions cannot be used with MULTI type robots.
n
NOTE
When two robots (main and sub robots) are specified, hand definitions data cannot
be shared between them. The main robot uses H0 - H3, and the sub robot H4 - H7
for hand definition data.
Four kinds of hand definitions can be set to change the robot working points with standard
coordinate settings to the working points of the hand installed to the 2nd arm (Y-axis) or the R-axis.
This function allows movement using different hands towards point data in the same Cartesian
coordinate format.
Data format for hand definition
Hn= ±aaaaaa ±bbbbbb ±cccccc [R]
(main robot : n = 0 to 3 / sub robot : n = 4 to 7)
1st parameter : ±aaaaaa
Enter a number consisting of an integer portion of up to 5 digits
and having 2 or less places below the decimal point, or an integer
of up to 7 digits (depending on the robot type setting and hand
definition type).
2nd to 3rd parameters : ±bbbbbb, ±cccccc
Enter a number consisting of an integer portion of up to 5 digits
and having 2 or less places below the decimal point.
4th parameter : R
Enter one character (depending on the hand definition type).
When all values for a hand definition are "0", this means the hand definition is not set.
n
NOTE
Hand definition data cannot be used with MULTI type robots since the SHIFT/HAND
selection display on the 1st line on the RPB screen appears blank.