Yamaha RCX142 User Manual page 227

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.
11.Arm length [mm] /ARMLEN
This parameter sets the X, Y axis arm length on SCARA robots.
This is automatically determined according to the current robot type when initialized.
The arm length is also determined automatically when standard coordinates are set.
On XY robots and MULTI type robots, setting the axis length also automatically de-
termines the weight of each axis. This is set to 0 when initialized.
[Procedure]
1) Select "11. Arm length [mm]" in "SYSTEM>PARAM>AXIS" mode.
2) Press the (EDIT) key.
F 1
3) Select the axis with the cursor (↑/↓) keys.
Fig. 4-12-24 Setting the "Arm length [mm]"
SYSTEM>PARAM>AXIS
11.Arm length[mm]
M1= 200.00
m4= 0.00
[0-10000] Enter >_ 2 00.00
4) Enter the value with the
key.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the key to quit the edit mode.
ESC
12. "SYSTEM" mode
V8.35
M2= 200.00 M3=
to , and
.
0 9
0.00
keys and then press the
165
4-
4