Yamaha RCX141, User Manual

Page: 142 / 402

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Operation
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11. “MANUAL” mode
Fig. 4-11-20 Point data teaching (with auxiliary axis [8])
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 86.86
P9 = 400.00 200.00 15.00 -30.00
[POS] 212.43 152.31 100.26 86.86
EDIT TEACH JUMP VEL+ VEL-
COMNT: [ ]
————————————x———————y———————z———————r———
11.2.3 Point data input by direct teaching
Point data can also be obtained by direct teaching (moving the robot by hand to the target
point while the robot servo is off).
[Procedure]
1) Press the emergency stop button on the MPB.
2) Move the robot by hand to the target point and perform point teaching in
“MANUAL>POINT” mode.
For point data teaching methods, refer to the previous section “11.2.2 Point data
input by teaching”. (In this procedure you move the robot by hand since the Jog
keys cannot be used.)
11.2.4 Point jump display
[Procedure]
1) Press the
F 3
(JUMP) key in “MANUAL>POINT” mode.
The message “Enter point no.>“ appears on the guideline.
Fig. 4-11-21 Point jump (1)
MANUAL >POINT
50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 15.00 30.00
P8 = 50.00 100.00 5.00 10.00
P9 = 122.62 -24.54 12.35 -23.11
[POS] 50.00 100.00 5.00 10.00
Enter point no.>100_
COMNT: [ ]
n
NOTE
Point data teaching cannot be
performed if return-to-origin is
incomplete.
n
NOTE
When the robot servo is off, automatic
and manual operation cannot be
performed. There are two methods for
turning on the robot servo: One is to
use the MPB and the other is to use the
dedicated input.
Refer to "14. "UTILITY" mode" in this
chapter, or refer to "1. Standard I/O
interface overview" in Chapter 5.
w
WARNING
When you perform direct
teaching, make sure that the
emergency stop button is
pressed so that the servo will
not turn on.