Yamaha RCX240 User Manual page 286

12. "SYSTEM" mode
12. Offset pulse /OFFSET
On SCARA robots, this parameter sets the offset pulses when the X, Y, R axes are at 0 pulses.
1
When initialized, this is set to a value unique to each robot type that is currently set.
• X-axis offset pulses ....... Angle formed by X axis arm and +X-axis on standard coordinates
• Y-axis offset pulses ....... Angle formed by X axis arm and Y axis arm (unit: pulses)
2
• R-axis offset pulses ....... Angle formed by R axis origin and +X-axis on standard
The offset is determined automatically when the standard coordinates are set.
3
Select "12. Offset pulse" in "SYSTEM>PARAM>AXIS" mode.
1
Press
2
4 Select the axis with the cursor (
3
5
6
c
CAUTION
7
• on scArA robots, the arm length and offset pulses are used to change
• when some value (including 0) has been entered for this parameter, it means the
8
Enter the value with
4
9
Repeat steps 3 and 4 as needed.
5
Press
6
10
4-208
Chapter 4 OPERATION
(unit: pulses)
coordinates (unit: pulses)
(EDIT).
Setting the "Offset pulse"
coordinates to the Cartesian coordinate system. Make sure the arm length
setting is accurate so the Cartesian coordinates can be used effectively and with
high precision.
settings are in standard coordinates.
to quit the edit mode.
/ ) keys.
to and then press .