Yamaha RCX240 User Manual page 280

12. "SYSTEM" mode
7. Arch position [pulse] /ARCH
When an arch motion command (optional PTP operation) is executed, arch movement begins
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when the robot enters the arch position range set by this parameter for the target position. This
parameter is set to a value unique to each axis when initialized.
When the axis specified for arch movement starts PTP movement toward the specified position
and enters the arch position range, the other axes start to move. When those axes enter the arch
position range, the arch-specified axis moves by PTP toward the target position. Movement time
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can be shortened by making this value larger since there is a greater overlap for axis operation.
The value set for the selected axis is displayed in converted units on the 3rd line of the RPB
screen.
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4
5
Select "7. Arch position [pulse]" in "SYSTEM>PARAM>AXIS" mode.
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Press
2
6
Select the axis with cursor (
3
7
8
9
c
CAUTION
• the arch-specified axis may sometimes reach the target position faster than the
• Movement may be along different paths during arch operation due to the
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4-202
Chapter 4 OPERATION
Arch motion
Arch position range
of arch-specified axis
Movement of other axes
Specified axis
movement
Current position
(EDIT).
Setting the "Arch position [pulse]"
other axes if the arch position is large. So set an accurate value for the arch
position.
movement speed. Check the arch motion at a speed at which the robot actually
moves.
Arch position range
of other axes
Specified axis
movement
Target position
/ ) keys.