Yamaha CEmarking RCX221, User Manual

Page: 197 / 468

4-129
Chapter
4
OPERA
TION
11. "MANUAL" mode
When "MANUAL>HAND" mode is entered, a screen like that shown below appears.
The currently selected hand definition number is highlighted.
■
Hand definition screen
MANUAL >HAND
50% [MG][S0H1X]
————————————1———————2———————3———————4———
H0 = 0 0.00 0.00
H1 = 0.00 100.00 0.00 R
H2 = 90.00 100.00 100.00 R
H3 = 8000 100.00 100.00
[POS] 600.00 0.00 0.00 0.00
EDIT VEL+ VEL-
Valid keys and submenu descriptions in "MANUAL>HAND" mode are shown below.
Valid keys Menu Function
Cursor key
(
↑
/
↓
)
Specifies the hand definition number.
F1 EDIT Edits the hand definition.
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%)
F6 METHOD1 Makes setting 1 for hand coordinates.
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.
ROBOT
( + )
Switches the robot group.