Yamaha CEmarking RCX221, User Manual

Page: 106 / 468

4-38
Chapter
4
OPERA
TION
9. "AUTO" mode
9.7 Executing the point trace
Point data positions can be checked by actually moving the robot arm in the following
modes.
• PTP motion mode
• Arch motion mode
• Linear interpolation motion mode (Linear interpolation motion at the sub robot is
not supported in controller versions prior to Ver. 9.11.)
n
NOTE
Point trace cannot be performed unless return-to-origin is complete.
[Procedure]
1) Press (POINT) in "AUTO" mode.
The screen switches to "AUTO>POINT" mode and the point data appears as shown
below.
■
Point trace screen
AUTO POINT 100% [MG][S0H0J]
————————————x———————y———————z———————r———
P3 = 150.50 64.53
P4 = 96.65 -224.89
P5 = -63432 19735
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
0.00 0.00
0.00 0.00
0.00 0.00
PTP JUMP VEL+ VEL-
>