Yamaha CEmarking RCX221, User Manual

Page: 201 / 468

4-133
Chapter
4
OPERA
TION
11. "MANUAL" mode
11.6.2 Hand definition setting method 1
By using this method, a hand attached to the 2nd arm can be set to the current hand
definition.
n
NOTE
Hand defi nition data is set by teaching the identical points that are used for
hand working points and non-hand working points.
[Procedure]
1) In "MANUAL>HAND" mode, use the cursor (
↑
/
↓
) key to select the hand definition
number.
2) Press (METHOD1) to enter "MANUAL>HAND> METHOD1" mode.
■
Hand setting 1 (1)
MANUAL >HAND>METHOD1 50% [MG][S0H0X]
————————————1———————2———————3———————4———
Move arm to P[1] and press ENTER key
1st P=
2nd P=
[POS] 600.00 0.00 0.00 0.00
VEL+ VEL-
3) Use the Jog keys to move the robot working point to point 1. (Position it accurately.)
w
WARNING
THE ROBOT STARTS TO MOVE WHEN A JOG KEY IS PRESSED. TO AVOID
DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE.
4) Press to enter the teaching value.
■
Hand setting 1 (2)
MANUAL >HAND>METHOD1 50% [MG][S0H0X]
————————————1———————2———————3———————4———
Move arm to P[2] and press ENTER key
1st P= 214.45 -15.01
2nd P=
[POS] 214.45 -15.01 0.00 0.00
0.00
VEL+ VEL-