Yamaha RCX40 User Manual page 211

n
NOTE
This parameter is valid only on SCARA
robots.
4. Armtype at PGM reset/ARMTYP
On SCARA robots, it is necessary to set left-handed or right-handed system when
moving along XY coordinates or converting point data. This parameter is used to set
the initial hand system when the program is reset. The right-handed system is selected
when the parameters are initialized.
This is effective only on SCARA robots.
[Procedure]
1) Select "4. Armtype at PGM reset" in "SYSTEM>PARAM>ROBOT" mode.
2) Press the (EDIT) key.
F 1
3) Select the parameter with the cursor (↑/↓) keys.
Fig. 4-12-9 Setting the "Armtype at PGM reset"
SYSTEM>PARAM>ROBOT
4. Armtype at PGM reset
MR= RIGHTY
RIGHTY LEFTY
4) Press the (RIGHTY) key or the
F 1
tem.
5) Press the key to quit the edit mode.
ESC
12. "SYSTEM" mode
V8.01
(LEFTY) key to select the hand sys-
F 2
4
151
4-