Yamaha RCX141, User Manual

Page: 169 / 402

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111
4
Operation
11. “MANUAL” mode
11.5.2.1 Restoring a shift coordinate range
[Procedure]
During editing of shift coordinate range data, pressing the
F 1
(UNDO) key reverses
the last data input and restores the preceding data.
This function is enabled only on lines that are not yet complete.
11.5.3 Shift coordinate setting method 1
This method sets the shift coordinate data by performing teaching at 2 points and then
entering the plus/minus direction of those 2 points
The first teach point 1 (1st P) becomes the shift coordinate origin. The Z value of teach
point 1 is the Z value of the shift coordinate.
Fig. 4-11-58 Shift coordinate setting method 1 (1)
Point 1
(1st P)
Point 2
(2nd P)
X
X' Y'
Y
[Procedure]
1) In “MANUAL>SHIFT” mode, select the shift coordinate number with the cursor
(
↑
/
↓
) key.
2) Press the
F 6
(METHOD1) key to enter “MANUAL>SHIFT> METHOD1”
mode.
Fig. 4-11-59 Shift coordinate setting method 1 (2)
MANUAL >SHIFT>METHOD1 50% [MG][S0H0X]
————————————x———————y———————z———————r———
Move arm to P[1] and press ENTER key
1st P=
2nd P=
[POS] 600.00 0.00 0.00 0.00
VEL+ VEL-
n
NOTE
When two robots (main and sub
robots) are specified, check the
currently selected robot group on the
MPB screen.
“[MG]” indicates the main robot
group is selected, and “[SG]”
indicates the sub robot group is
selected. To change the robot group,
use the ROBOT (
LOWER
+
MODE
) key.