Yamaha RCX141, User Manual

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Operation
11. “MANUAL” mode
11.2 Displaying and editing point data
Press the
F 1
(POINT) key in “MANUAL” mode to enter “MANUAL>POINT” mode.
This mode allows you to display and edit the point data.
One point is made up of data from 6 axes (x, y, z, r, a, b).
Note that the hand system flag can be set as an extended function for the point data set
with the Cartesian coordinates ("mm" units). The hand system flag is valid only for the
SCARA robot.
Point numbers can be specified in the range of 0 to 9999.
The axis data for three points is displayed on the screen along with a point comment on
the selected point number. To see the other data, scroll the screen with the cursor keys or
page keys.
↑ ↓
Scrolls up or down one line at a time.
→
→
Scrolls right or left one character at a time.
>> <<
Scrolls up or down three lines at a time.
<< >>
Scrolls right or left one page at a time.
The 5-digit area on the left side shows the point numbers, with the point number for
editing shown highlighted.
The hand system will appear in the sixth line when the SCARA robot is selected and a
hand system flag of the extended setting is set.
Fig. 4-11-8 Point data
MANUAL >POINT 50% [MG][S0H0J]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 15.00 30.00
P8 =
P9 = 122.62 -24.54 12.35 -23.11
COMNT: [ ]
[POS] 0 0 0 0
EDIT TEACH JUMP VEL+ VEL-
n
NOTE
When two robots (main and sub
robots) are specified, the point data
can be shared between them.
c
CAUTION
In the case of SCARA robots, it
cannot be guaranteed that the robots
will move to the same position if a
different hand system is used to move
to a point data on the Cartesian
coordinates (millimeter units).