Yamaha RCX141, User Manual

Page: 174 / 402

4-
116
Operation
4
11. “MANUAL” mode
Fig. 4-11-66 Hand definition screen (two-robot setting [1])
Main robot group is selected:
MANUAL >HAND 50 /50% [MG][S0H1X]
————————————1———————2———————3———————4———
H0 = 0 0.00 0.00
H1 = 0.00 100.00 0.00 R
H2 = 90.00 100.00 100.00 R
H3 = 8000 100.00 100.00
[POS] 600.00 0.00 0.00 0.00
EDIT VEL+ VEL-
Fig. 4-11-67 Hand definition screen (two-robot setting [2])
Sub robot group is selected:
MANUAL >HAND 50/ 50% [SG][S3H5X]
————————————1———————2———————3———————4———
H4 = 0 0.00 0.00
H5 = 0.00 100.00 0.00 R
H6 = 90.00 100.00 100.00 R
H7 = 8000 100.00 100.00
[POS] 600.00 0.00 0.00 0.00
EDIT VEL+ VEL-
Valid keys and submenu descriptions in “MANUAL>HAND” mode are shown below.
Cursor key
(
↑
/
↓
)
F1
F4
F5
F6
F8
F9
F10
Valid keys
EDIT
VEL+
VEL-
METHOD1
UNITCHG
VEL++
VEL--
Menu Function
Specifies the hand definition number.
Edits the hand definition.
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 %)
Makes setting 1 for hand coordinates.
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.
Switches the robot group.
ROBOT
(
+ )
LOWER
MODE