Yamaha CEmarking RCX221, User Manual

Page: 149 / 468

4-81
Chapter
4
OPERA
TION
11. "MANUAL" mode
i
Current position
This shows the current position of the robot. When an "M" letter is followed by a
number it indicates the position in "pulse" units (integer display) and when an "x" to
"a" letter follows, it indicates "mm" units (decimal point display). When an asterisk (*)
appears at the left of the "M" letters, it indicates the origin sensor is on. An asterisk
also appears when no origin sensor is used.
o
Guideline
The contents assigned to function keys are shown highlighted. A message on what to
do next also appears here in some operation steps.
Valid keys and submenu descriptions in "MANUAL" mode are shown below.
Valid keys Menu Function
Jog key Moves the robot manually.
F1 POINT Switches to the point data processing screen.
F2 PALLET Switches to the pallet data processing screen.
F3 ORIGIN Performs return-to-origin.
F4 VEL+
Increases manual movement speed for the selected
robot group in steps.(1
→
5
→
20
→
50
→
100%)
F5 VEL-
Decreases automatic movement speed for the selected
robot group in steps.(100
→
50
→
20
→
5
→
1%)
F6 SHIFT Switches to the shift data processing screen.
F7 HAND Switches to the hand data processing screen.
F8 UNITCHG
Changes the current position display units to "mm" or
"pulse".
F9 VEL++
Increases manual movement speed for the selected
robot group in 1% increments.
F10 VEL--
Decreases manual movement speed for the selected
robot group in 1% decrements.
F15 COORDI Sets the standard coordinates.
ROBOT
( + )
Switches the robot group.