Yamaha RCX240, Руководство пользователя

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Chapter 4 OPERATION
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Chapter 4 OPERATION
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11. "MANUAL" mode
11.10 Setting the standard coordinates
The standard coordinates set for SCARA robots are treated as Cartesian coordinates using the X-axis
rotating center as the coordinate origin.
The following operations and functions are enabled on SCARA robots by setting the standard
coordinates.
• Moving robot arm tip at right angles.
• Using pallet definition, SHIFT coordinates and HAND definition.
• Using commands requiring coordinate conversion (such as linear/circular interpolation and
pallet movement commands).
n
NOTE
On Cartesian type robots, there is no need to set the standard coordinates.
There are 3 methods for setting the standard coordinates.
• 4-point teaching
This method sets the standard coordinates by using 4 teach points that form a rectangle. The
first teach point is specified as the teaching origin and the positions of the other 3 points are
entered relative to the first point.
• 3-point teaching
This method sets the standard coordinates by using 3 teach points (equally spaced) on a
straight line. The direction and length from the first teach point to the last teach point must
be entered.
• Simple teaching
This method sets the standard coordinates by moving the X and Y arms so as to set them in
a straight line and then entering the length of the X and Y arms.
Setting the standard coordinates (1)
P [ 2 ]
P [ 1 ]
P [ 3 ] P [ 4 ]
4-point teaching
P [ 2 ]
L L
P [ 3 ]
P [ 1 ]
3-point teaching Simple teaching