Yamaha DRCX User Manual page 210

6) Enter the X-axis stroke with the number keys
and then press the
7) Enter the Y-axis stroke with the number keys
and then press the
8) Next, enter the robot payload
Use the number keys to enter the payload and
then press the
9) A confirmation message appears on the screen.
To execute the initialization, press
To cancel the initialization, press
10)When the initialization is complete, the screen
returns to step 3.
11)If (FLIP) was selected in step 4, the screen
F2
shown on the right appears.
Enter the type number of the robot connected
to the X-axis with the number keys and then
press the key.
For the robot number, see "15-1-2 Robot
number list".
12)When the robot having two or more different
lead lengths was selected in step 11, the dis-
play changes to the lead length selection screen.
Press ,
F1 F2
screw lead of the robot connected as the X-axis.
If the robot has 4 or more different lead lengths,
press (next) to switch the menu display.
F4
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key.
key.
key.
(yes).
F1
(no).
F2
or key to select the ball
F3
10-1 Initialization
[SYS-INIT-PRM-XY]
robot type : 110
X stroke : 450_ [mm]
[SYS-INIT-PRM-XY]
robot type : 110
X stroke : 450 [mm]
Y stroke : 350_ [mm]
[SYS-INIT-PRM-XY]
robot type : 110
Weight : 3_ [Kg]
[SYS-INIT-PRM-XY]
parameter data
initialize OK ?
1yes 2no
[SYS-INIT]
select menu
1PGM 2PNT 3PRM 4ALL
[SYS-INIT-PRM-FLIP]
X robot type: _
refer to
robot type table
[SYS-INIT-PRM-FLIP]
X robot type: 20
select X lead type
15.0 210.0320.0
10
3
10-