Yamaha RCX40, Руководство пользователя

Страница: 193 / 388

4-
133
4
Operation
11. “MANUAL” mode
11.9 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).
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.
Fig. 4-11-90
P [ 2 ]
P [ 1 ]
P [ 3 ] P [ 4 ]
4-point teaching
P [ 2 ]
L L
P [ 3 ]
P [ 1 ]
3-point teaching Simple teaching
n
NOTE
On Cartesian type robots, there is no
need to set the standard coordinates.