Yamaha RCX40 User Manual page 177

(2) Cartesian robots
1) Hand attached to 2nd arm
a. Robot movement
• Hand "n" moves to a specified point.
b. Parameter descriptions
<1st parameter>: Specify the X-axis offset amount of hand "n" with a real number.
(unit: mm)
<2nd parameter>: Specify the Y-axis offset amount of hand "n" with a real
numbers. (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. 4-11-68
X
Fig. 4-11-69 Hands attached to 2nd arm (Cartesian type)
MANUAL>HAND
————————————1———————2———————3———————4———
H0 = 0.00
H1 =-100.00 -100.00 -100.00
H2 = 0.00
H3 = 0.00
[POS] 600.00
EDIT
11. "MANUAL" mode
-100.00mm
HAND 0
-100.00mm
Y
50% [MG][S0H1X]
0.00 0.00
0.00 0.00
0.00 0.00
0.00 0.00
VEL+
HAND 1
0.00
VEL-
117
4-
4