Yamaha RCX141, User Manual

Page: 140 / 402

4-
82
Operation
4
11. “MANUAL” mode
2) Use the cursor (
↑
/
↓
) keys,
F 14
(AXIS
←
) or
F 15
(AXIS
→
) key to select the
axes to perform point teaching.
As shown below, the point number at the left end should be highlighted when
teaching on all axes. When teaching on the standard axes, their point data values
should be highlighted. When teaching on the auxiliary its point data value should be
highlighted.
Note that an undefined point cannot be specified except for point numbers.
Fig. 4-11-14 Point data teaching (with auxiliary axis [2])
When teaching on all axes
MANUAL >POINT 100%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 15.00 30.00
P8 = 220.00 150.00 115.00 90.00
P9 = 400.00 200.00 15.00 -30.00
COMNT: [ ]
[POS] -100.00 400.00 50.15 111.23
EDIT TEACH JUMP VEL+ VEL-
Fig. 4-11-15 Point data teaching (with auxiliary axis [3])
When teaching on standard axes
MANUAL >POINT 100%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 15.00 30.00
P8 = 220.00 150.00 115.00 90.00
P9 = 400.00 200.00 15.00 -30.00
COMNT: [ ]
[POS] -100.00 400.00 50.15 111.23
EDIT TEACH JUMP VEL+ VEL-
Fig. 4-11-16 Point data teaching (with auxiliary axis [4])
When teaching on auxiliary axis
MANUAL >POINT 100%[MG][S0H0X]
P7 = 100.00 250.00 15.00 30.00
P8 = 220.00 150.00 115.00 90.00
P9 = 400.00 200.00 15.00 -30.00
COMNT: [ ]
[POS] -100.00 400.00 50.15 111.23
EDIT TEACH JUMP VEL+ VEL-
————————————x———————y———————z———————r———
3) Use the Jog keys to move the robot axis for teaching.
As the arm moves, the current position data on the 7th line on the screen changes.
w
WARNING
The robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.