Yamaha CEmarking RCX221, User Manual

Page: 175 / 468

4-107
Chapter
4
OPERA
TION
11. "MANUAL" mode
11.3.1.1 Point setting in pallet definition
In "MANUAL>PALLET>EDIT" mode, a screen like that shown below is displayed.
n
NOTE
• Each pallet is generated with 5 points for pallet defi nition.
• These 5 points should be defi ned in order from P[1] to P[5]. See "11.3
Displaying, editing and setting pallet defi nitions".
■
Point setting in pallet definition
MANUAL >PALLET>EDIT 50%[MG][S0H0X]
POINT=P3996(P[1])-P4000(P[5])
P[1] = 98.87 -24.54
P[2] = 122.62 -24.54
P[3] = 98.62 -94.54
EDIT TEACH VEL+ VEL-
[POS] 50.00 100.00 0.00 0.00
0.00 0.00
0.00 0.00
0.00 0.00
————————————x———————y———————z———————r———
The 3rd line shows the point numbers and point data in the pallet definition.
Valid keys and submenu descriptions in this mode are shown below.
Valid keys Menu Function
Cursor key
(
↑
/
↓
)
Specifies the point data or scrolls the screen.
F1 EDIT Edits the point in pallet definition.
F2 TEACH Sets the point in pallet definition by teaching.
F4 VEL+
Increases manual movement speed for the selected
robot group in steps. (1
→
5
→
20
→
50
→
100%)
F5 VEL-
Decreases manual movement speed for the selected
robot group in steps. (100
→
50
→
20
→
5
→
1%)
F8 UNITCHG Switches the current position display units.
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.
ROBOT
( + )
Switches the robot group.