Yamaha RCX40 User Manual page 175

Movement of each robot type and the parameter contents are shown below.
(1) SCARA robots
1) Hand attached to 2nd arm
a. Robot movement
• Imaginary 2nd arm of hand "n" moves to a specified point as if it were the actual
2nd arm.
• Imaginary 2nd arm of hand "n" determines whether the robot is in a right-handed
system or left-handed system.
b. Parameter descriptions
<1st parameter>: Specify with an integer the difference between the number of
offset pulses of the standard 2nd arm and the number of offset
pulses of the imaginary 2nd arm of hand "n". If
counterclockwise, enter a "+" value. (unit: pulses)
<2nd parameter>: Specify with a real number the difference between the imaginary
2nd arm length of hand "n" and the standard 2nd arm length.
(unit: mm)
<3rd parameter>: Specify the Z-axis offset amount of hand "n" with a real number.
(unit: mm)
<4th parameter>: No setting for "R".
Fig. 4-11-64
HAND 0
Fig. 4-11-65 Hands attached to 2nd arm (SCARA type)
MANUAL>HAND
————————————1———————2———————3———————4———
H0 =
H1 = -5000
H2 =
H3 =
[POS] 600.00
EDIT
11. "MANUAL" mode
HAND 1
20.00mm
-5000 pulse
50% [MG][S0H1X]
0 150.00 0.00
20.00 0.00
0 0.00 0.00
0 0.00 0.00
0.00 0.00
VEL+
0.00
VEL-
115
4-
4