Yamaha RCX141, User Manual

Page: 170 / 402

4-
112
Operation
4
11. “MANUAL” mode
3) Use the Jog keys to move the robot arm tip to teach point 1. (Position it accurately.)
4) Press the key, and the current position is then obtained as “1st P”.
(This value becomes the shift coordinate origin.)
Fig. 4-11-60 Shift coordinate teaching
MANUAL >SHIFT>METHOD1 50% [MG][S0H0X]
————————————x———————y———————z———————r———
Move arm to P[2] and press ENTER key
1st P= 214.45 -15.01 20.32
2nd P=
[POS] 214.45 -15.01 20.32 0.00
VEL+ VEL-
5) Determine teach point 2 with the same procedure as for teach point 1.
6) Select the plus/minus direction of teach point 1 towards point 2 by using the
F 1
(+X),
F 2
(-X),
F 3
(+Y) or
F 4
(-Y) key.
Fig. 4-11-61 Coordinate direction setting
MANUAL >SHIFT>METHOD1 50% [MG][S0H0X]
Press F.key to get Direction
+——————————+———> +X
1st P. 2nd P.
+X
+X -X +Y -Y
————————————x———————y———————z———————r———
7) When the coordinate direction is selected, the shift coordinate values (dX, dY, dZ,
dR) are automatically calculated and stored.
The screen then returns to “MANUAL>SHIFT” mode.
Valid keys and submenu descriptions in “MANUAL>SHIFT>METHOD1” mode are
shown below.
F4
F5
F8
F9
F10
Valid keys
VEL+
VEL-
UNITCHG
VEL++
VEL--
Menu Function
Increases manual movement speed for the selected robot group in steps.
(1
→
5
→
20
→
50
→
100 %)
Decreases manual movement speed for the selected robot group in steps.
(100
→
50
→
20
→
5
→
1 %)
Switches between the current display units (mm or pulses).
Increases manual movement speed for the selected robot group in 1%
increments.
Decreases manual movement speed for the selected robot group in 1%
decrements.
w
WARNING
The robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
n
NOTE
Perform teaching carefully to obtain
accurate teach points. Precise shift
coordinates cannot be set if the teach
point is inaccurate.
n
NOTE
The Z-direction shift value is
automatically obtained when teach
point 1 is determined. The Z-axis data
at teach point 2 is therefore ignored.