Yamaha RCX240, Руководство пользователя

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4-144
Chapter 4 OPERATION
11. "MANUAL" mode
Chapter 4 OPERATION
4-145
2) Hand attached to R-axis
a. Robot movement
Hand "n" moves towards a specified point while changing its movement direction. The
direction to be changed is set for the specified point with an R value. Obstacles can
therefore be avoided by changing the R value.
b. Parameter descriptions
<1st parameter>: When the current R-axis position is 0.00, specify with a real
number the angle between the +X direction of Cartesian
coordinates and hand "n". If counterclockwise, enter a "+" value.
(unit: degrees)
<2nd parameter>: Specify the length of hand "n" with a positive real number.
(unit: mm)
<3rd parameter>: Specify the Z-axis offset amount of hand "n" with a real number.
(unit: mm)
<4th parameter>: Specify "R".
Hands attached to R-axis (Cartesian type) (1)
150.00mm
100.00mm
-90.00 degree
X
Y
HAND 1
HAND 0
ＭＡＮＵＡＬ ＞ＨＡＮＤ ５０％［ＭＧ］［Ｓ０Ｈ１Ｘ］
１ ２ ３ ４
Ｈ０ ＝ ０．００ １００．００ ０．００ Ｒ
Ｈ１ ＝ −９０．００ １５０．００ −１００．００ Ｒ
Ｈ２ ＝ ０ ０．００ ０．００
Ｈ３ ＝ ０ ０．００ ０．００
［ＰＯＳ］ ６００．００ ０．００ ０．００ ０．００
ＥＤＩＴ ＶＥＬ＋ ＶＥＬ−
Hands attached to R-axis (Cartesian type) (2)