Yamaha RCX141, User Manual

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Operation
11. “MANUAL” mode
1) When "X" is displayed (When not in "Tool coordinate" mode)
When a Jog key is pressed, the robot arm tip moves in the corresponding
direction on the Cartesian coordinates. If auxiliary axis setting is made, then the
robot moves only along the corresponding axis.
2) When "T" is displayed (When in "Tool coordinate" mode)
"Tool coordinate" mode can be used only when hand data for the R-axis of a
Cartesian robot or SCARA robot is selected (hand definition is made).
Pressing the
#1+
or
#1-
key moves the hand forwards or backwards.
Pressing the
#2+
or
#2-
key moves the hand to the left or right.
Pressing the
#4+
or
#4-
key rotates the end of the hand around its center.
When the other Jog keys are pressed, the robot moves the same way as when "X"
is displayed.
Fig. 4-11-7 Robot movement in "Tool coordinate" mode (example)
Y
X
Y
X
#2+ #1+
#1- #2-
#4-
#4+
If the above hand is defined, the robot moves with Jog keys as illustrated below.
Y
HAND 1
X
100.00mm
-90.00 degrees
MANUAL >HAND 50% [MG][S0H1T]
————————————1———————2———————3———————4———
H0 = 0.00 150.00 0.00 R
H1 = -90.00 100.00 0.00 R
H2 = 0 0.00 0.00
H3 = 0 0.00 0.00
#1+ #2-
Robot movement with to keys #4+ #4-
Robot movement with and keys
Each time a Jog key is pressed, the robot moves a specified distance (inching
movement). When the Jog key is held down, the robot keeps moving. The robot stops
when the Jog key is released or either of the soft limit or shift coordinate range is
reached.
The robot stops when the Jog key is released or the soft limit is reached.
The movement distance (inching distance) is equal to the manual movement speed
setting (%) multiplied by 0.01mm or 0.01 deg.
[Example] When manual movement speed is 20%:
Inching distance in "mm" units = 0.20mm