Yamaha RCX222 User Manual page 258

12. "SYSTEM" mode
8. Unit select / PTUNIT
This parameter selects the point data unit system to be used when the controller is
started. For incremental specification robots and semi-absolute specification robots,
the current position is displayed in "pulse" units at controller startup because return-
to-origin is incomplete. When this parameter is used to select "mm" units, the
position display is switched to "mm" units at the same time when return-to-origin is
completed. This parameter is set to "Normal" when the parameters are initialized.
n
NOTE
• This parameter is supported by controllers of Ver. 9.08 onwards.
Chapter
4
• Tool coordinate mode is enabled when the robot has an R-axis and the
[Procedure]
1) Select "8. Unit select" in "SYSTEM>PARAM>OTHERS" mode.
2) Press
The function key menu changes.
■ Setting "Unit select"
SYSTEM>PARAM>OTHERS
Normal
3) Press a key from
Normal (default setting)
J (pls)
X (mm/°)
T (mm/°)
4) Press
4-188
hand installed on the R-axis is specifi ed by hand data. If the robot does
not have an R-axis or the hand installed on the R-axis is not specifi ed by
hand data, the unit system will be automatically changed to X (mm/°)
after start-up even if T (mm/°) is selected by parameter.
(EDIT).
4.DO cond. on EMG
5.Incremental Mode
6.DI noise filter
7.TRUE condition
8.Unit select
J(pls) X(mm/°) T(mm/°)
(Normal) to
Setting
Sets to the unit system that was last selected.
Sets to "pulses" unit system.
Sets "mm" unit system in normal setting (other than tool
coordinate mode).
Sets "mm" unit system in tool coordinate mode.
to quit the edit mode.
V9.08
HOLD
INVALID
VALID
-1
Normal
(mm/°) to enter the unit system.
Meaning