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12. Offset pulse /OFFSET
On SCARA robots, this parameter sets the offset pulses when the X, Y, R axes are at
0 pulses. 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
• 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.
c
CAUTION
When some value (including 0) has been entered for this parameter, it
means the settings are in standard coordinates.
[Procedure]
1) Select "12. Offset pulse" in "SYSTEM>PARAM>AXIS" mode.
2) Press
(EDIT).
3) Select the axis with the cursor ( ↑ / ↓ ) keys.
■ Setting the "Offset pulse"
SYSTEM>PARAM>AXIS
12.Offset pulse
M1=
10000
[+/-6144000] Enter >_ 1 0000
4) Enter the value with
5) Repeat the above steps 3) and 4) if necessary.
6) Press
to quit the edit mode.
coordinates (unit: pulses)
coordinates (unit: pulses)
V9.00
M2=
20000
to
and then press
12. "SYSTEM" mode
.
4-175
Chapter
4
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