Omron YRC User Manual

7
Controller system settings
7-26
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Offset pulse
‹
OFFSET
›
This parameter sets the angle to the arm posture or standard coordinate axis in the status where the X, Y, and R-axis
motor positions of the SCARA robots are located at their "0"-pulse positions.
• X-axis offset pulse
… Angle formed by the plus (+) X-axis direction of the standard coordinates and the X-arm. (Unit: pulse)
• Y-axis offset pulse
… Angle formed by the X-arm and Y-arm. (Unit: pulse)
• R-axis offset pulse
… Angle formed by the plus (+) X-axis direction of the standard coordinates and the R-axis tip tool. (Unit: pulse)
When this parameter is initialized, "0" is set. Additionally, this parameter is set automatically when setting the standard
coordinates.
"Offset pulse" setting
Y
X
X-arm
Y-arm
Tip tool
X-axis offset pulse
Y-axis offset pulse
R-axis offset pulse
X-arm length
Y-arm length
CAUTION
• For SCARA type robots, coordinate conversion to the Cartesian coordinates is performed using the arm length
and offset pulse. Therefore, be sure to set the correct offset pulse.
• When the data is input using this parameter (press in the input cursor display status), the standard coordinates
are set.

Omron YRC Specifications

General

Brand	Omron
Model	YRC
Category	Controller
Language	English