Yamaha RCX141 User Manual page 178

11. "MANUAL" mode
4
120
4-
2) Hand attached to R-axis
a. Robot movement
Hand "n" moves towards a specified point while changing its movement direction.
The direction to be changed is set for the specified point with an R value. Obstacles
can therefore be avoided by changing the R value.
b. Parameter descriptions
<1st parameter>: When the current R-axis position is 0.00, specify with a real
number the angle between the +X direction of Cartesian
coordinates and hand "n". If counterclockwise, enter a "+" value.
(unit: degrees)
<2nd parameter>: Specify the length of hand "n" with a positive real number. (unit:
mm)
<3rd parameter>: Specify the Z-axis offset amount of hand "n" with a real number.
(unit: mm)
<4th parameter>: Specify "R".
Fig. 4-11-74
X
-90.00 degree
HAND 0
Fig. 4-11-75 Hands attached to R-axis (Cartesian type)
MANUAL>HAND
————————————1———————2———————3———————4———
H0 = 0.00
H1 = -90.00
H2 = 0.00
H3 = 0.00
[POS] 600.00
EDIT
HAND 1
150.00mm
100.00mm
Y
50% [MG][S0H1X]
100.00 0.00
150.00 -100.00
0.00 0.00
0.00 0.00
0.00 0.00
VEL+
R
R
0.00
VEL-