Yamaha RCX142 User Manual page 215

n
NOTE
This parameter is valid only on SCARA
robots.
n
NOTE
This function is invalid if there is no R-
axis or the R-axis is an auxiliary axis.
3. R-axis orientation /RORIEN
On SCARA robots, this parameter sets whether or not to maintain the R-axis direction
(orientation) when moving manually across the XY axes. The R direction (orienta-
tion) is automatically set when the parameters are initialized.
If the R-axis direction has been set (held) and the arm tip is moved in the X or Y
directions, the R-axis automatically rotates to maintain its direction.
This is effective only on SCARA robots.
[Procedure]
1) Select "3.R axis orientation" in "SYSTEM>PARAM>ROBOT" mode.
2) Press the (EDIT) key.
F 1
3) Select the parameter with the cursor (↑/↓) keys.
Fig. 4-12-8 Setting the "R axis orientation"
SYSTEM>PARAM>ROBOT
3.R axis orientation
MR=
KEEP FREE
4) Press the (KEEP) key or the
F 1
5) Press the key to quit the edit mode.
ESC
KEEP
(FREE) key.
F 2
12. "SYSTEM" mode
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