Yamaha CEmarking RCX221, User Manual

Page: 195 / 468

4-127
Chapter
4
OPERA
TION
11. "MANUAL" mode
6) Determine teach point 2 with the same procedure as for teach point 1.
n
NOTE
The Z-direction shift value is automatically obtained when teach point 1 is
determined, so the Z-axis data at teach point 2 is ignored.
7) When the teach point 2 has been entered, the shift coordinates (dX, dY, dZ and dR)
are automatically calculated and stored.
The screen then returns to "MANUAL>SHIFT" mode.
Valid keys and submenu descriptions in "MANUAL>SHIFT>METHOD2" mode are shown
below.
Valid keys Menu Function
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 between the current display units (mm or
pulses).
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.