Yamaha ERCX Series, User Manual

Page: 108 / 260

7-
4
7
EDITING POINT DA
TA
7-2 Teaching Playback
6) Move the robot to the teaching position with
the
X
Z
– or
X
Z
+ keys. Each time the X
Z
–
or
X
Z
+
key is pressed, the robot moves a certain
amount in the direction indicated by the key
and then stops.
Holding down the
X
Z
–
or
X
Z
+
key moves the
robot continuously at a constant speed until the
key is released.
The amount of robot movement and the speed
are proportional to the number (teaching move-
ment data) displayed on the upper right of the
screen.
In the example at the right, the teaching move-
ment data is 50 (%), so the robot moves 0.5mm
each time the
X
Z
–
or
X
Z
+ key is pressed, as
calculated below:
1mm (constant)
×
(50/100) = 0.5mm
If the
X
Z
– or
X
Z
+
key is kept pressed, the ro-
bot continuously moves at a speed of 50mm/s,
as calculated below:
100mm/s (constant)
×
(50/100) = 50mm/s
[EDIT-PNT-TCH](1) 50
P500 = 19.27 [mm]
[ 0.00]
[EDIT-PNT-TCH](1) 50
SPEED(1) = _
(speed) 1
→
100
[EDIT-PNT-TCH](1) 100
P500 = 167.24 [mm]
[ 167.24]
1CHG 2SPD 3S_SET 4next
1CHG 2SPD 3S_SET 4next
7) Three different speed settings, SPEED (1),
SPEED (2), and SPEED (3), are selectable as
the teaching movement data. Each time
F2
(SPD) is pressed, the setting changes in the or-
der of 1
→
2
→
3
→
1.
To change the teaching movement data setting,
press
F3
(S_SET), enter the desired speed
with the number keys, and press . The screen
then returns to step 6 when the data has been
changed correctly.
8) Move the robot to the teaching position in this
way and press . The current position is in-
put as point data.
c
CAUTION
When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE
mode function".)
• Robot movement speed is limited to 10mm/s or less (10 deg/s for rotary robot) in "SERVICE mode state"
when the robot movement speed limit is enabled.