Yamaha RCX141, User Manual

Page: 168 / 402

4-
110
Operation
4
11. “MANUAL” mode
2) Press the
F 2
(RANGE) key to enter the “MANUAL>SHIFT>RANGE” mode.
A cursor for editing the shift coordinate range appears.
Fig. 4-11-56 Editing shift coordinate range (1)
MANUAL >SHIFT>RANGE 50% [MG][S1H0X]
————————————x———————y———————z———————r———
Range of shift coorinate [mm/deg]
SP1 =_ 0.00 0.00 0.00 0.00
SM1 = 0.00 0.00 0.00 0.00
[POS] 150.00 0.00 0.00 0.00
UNDO
3) Use the cursor (
←
/
→
) keys to move the cursor to the position you want to change.
4) Use the
0
to
9
,
+
,
–
,
.
and
SPACE
keys to enter the
point data.
Enter a space to separate between the data for x, y, z, r. The data input formats are
as follows.
• To enter the data in Cartesian coordinates (“mm” units)
Enter a number consisting of an integer portion of up to 5 digits and having 2
or less places below the decimal point.
±
###.##,
±
####.#,
±
#####.
Fig. 4-11-57 Editing shift coordinate range (2)
MANUAL >SHIFT>RANGE 50% [MG][S1H0X]
————————————x———————y———————z———————r———
Range of shift coorinate [mm/deg]
SP1 = 300.00 300.00 250.00 180._
SM1 = 0.00 0.00 0.00 0.00
[POS] 150.00 0.00 0.00 0.00
UNDO
5) Press the key, cursor up/down (
↑
/
↓
) keys or page up/down (
>>
,
<<
)
keys to finish the data input.
Press the
ESC
key if you want to cancel the data input.
6) To continue editing the shift coordinate range on the minus side, repeat steps 3) to
5).
7) Press the
ESC
key to quit editing and return to “MANUAL>SHIFT” mode.
Valid keys and submenu descriptions for editing shift coordinates range are shown below.
Valid keys Menu Function
F1 UNDO Reverses the last data input and restores the preceding data.
n
NOTE
Enter all shift range data for x, y, z
and r. If omitted, “0” will be
automatically entered for that axis.
n
NOTE
The shift coordinate number selected
when returning to
“MANUAL>SHIFT” mode is used as
the shift coordinates for the currently
selected robot group.