Yamaha RCX141 User Manual page 229

n
NOTE
• This parameter is supported by
controllers of Ver. 8.63 onwards.
• Tool coordinate mode is enabled
when the robot has an R-axis and the
hand installed on the R-axis is
specified by hand data (hand
definition is set). If the robot does not
have an R-axis or the hand installed
on the R-axis is not specified by hand
data, the unit system will be
automatically changed to X (mm/°)
after starting the controller even if
T (mm/°) is selected by parameter.
10.Unit select / PTUNIT
This parameter selects the point data unit system to be used when the controller is
started. For incremental specification robots and semi-absolute specification robots,
the current position is displayed in "pulse" units at controller startup because return-
to-origin is incomplete. When this parameter is used to select "mm" units, the position
display is switched to "mm" units at the same time when return-to-origin is completed.
This parameter is set to "Normal" when the parameters are initialized.
Setting
Normal (default setting)
Sets to the unit system that was last selected.
J (pls) Sets to "pulses" unit system.
X (mm/°) Sets "mm" unit system in normal setting (other than tool coordinate mode).
T (mm/°)
Sets "mm" unit system in tool coordinate mode.
[Procedure]
1) Select "10. Unit select" in "SYSTEM>PARAM>OTHERS" mode.
2) Press the (EDIT) key.
F 1
The function key menu changes.
Fig. 4-12-39 Setting "Unit select"
SYSTEM>PARAM>OTHERS
6.Incremental Mode control
7.IO cmd(DI05) on STD.DIO
8.DI noise filter
9.TRUE condition
10.Unit select
Normal J(pls)
3) Press a key from
F 1
4) Press the key to quit the edit mode.
ESC
Meaning
X(mm/°) T(mm/°)
(Normal) to (mm/°) to enter the unit system.
F 4
12. "SYSTEM" mode
V8.63
INVALID
INVALID
VALID
-1
Normal
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