Yamaha RCX40 User Manual page 223

c
CAUTION
• On SCARA robots, the arm
length and offset pulses are used
to change 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.
• When some value (including 0)
has been entered for this
parameter, it means the settings
are in standard coordinates.
12.Offset pulse /OFFSET
On SCARA robots, this parameter sets the offset pulses when the X, Y, R axes are at 0
pulses. This is set to 0 when initialized.
• X-axis offset pulses ........... Angle formed by X axis arm and +X-axis on standard
• Y-axis offset pulses ............ Angle formed by X axis arm and Y axis arm (unit: pulses)
• 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.
[Procedure]
1) Select "12. Offset pulse" in "SYSTEM>PARAM>AXIS" mode.
2) Press the (EDIT) key.
F 1
3) Select the axis with the cursor (↑/↓) keys.
Fig. 4-12-25 Setting the "Offset pulse"
SYSTEM>PARAM>AXIS
11.Offset pulse
M1= 10000
m4= 1000
[+/-6144000] Enter >_ 1 0000
4) Enter the value with the
5) Repeat the above steps 3) and 4) if necessary.
6) Press the key to quit the edit mode.
ESC
coordinates (unit: pulses)
coordinates (unit: pulses)
M2= 20000 M3=
to keys and then press the
0 9
12. "SYSTEM" mode
V8.01
0
key.
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4-
4