Yamaha RCX240 User Manual page 220

11. "MANUAL" mode
2) Hand attached to R-axis
a. Robot movement
1
Hand "n" moves towards a specified point while changing its movement direction. The
direction to be changed is set for the specified point with an R value. Obstacles can
therefore be avoided by changing the R value.
b. Parameter descriptions
2
<1st parameter>:
3
<2nd parameter>:
<3rd parameter>:
4
<4th parameter>:
5
6
7
8
9
10
4-142
Chapter 4 OPERATION
When the current R-axis position is 0.00, specify with a real
number the angle between the +X direction of Cartesian
coordinates and hand "n". If counterclockwise, enter a "+" value.
(unit: degrees)
Specify the length of hand "n" with a positive real number.
(unit: mm)
Specify the Z-axis offset amount of hand "n" with a real number.
(unit: mm)
Specify "R".
Hands attached to R-axis (SCARA type) (1)
Y
Hands attached to R-axis (SCARA type) (2)
Standard 2nd arm 150.00mm
-90.00 degrees
100.00mm
HAND 1
X
HAND 0