Yamaha RCX141, User Manual

Page: 171 / 402

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113
4
Operation
11. “MANUAL” mode
11.5.4 Shift coordinate setting method 2
This method sets the shift coordinate data by performing teaching at 2 points and then
entering the coordinate values of those 2 points
The Z value of teach point 1 becomes the Z value of the shift coordinate.
Fig. 4-11-62 Shift coordinate setting method 2 (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 7
(METHOD2) key to enter “MANUAL>SHIFT> METHOD2”
mode.
Fig. 4-11-63 Shift coordinate setting method 2 (2)
MANUAL >SHIFT>METHOD2 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-
3) Use the Jog keys to move the robot arm tip to teach point 1. (Position it accurately.)
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.
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.