Yamaha RCX240, Руководство пользователя

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Chapter 4 OPERATION
11. "MANUAL" mode
Chapter 4 OPERATION
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The following parameters are automatically set when the standard coordinates are entered.
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.
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.