Yamaha RCX141, User Manual

Page: 191 / 402

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133
4
Operation
11. “MANUAL” mode
11.9.1 Setting the standard coordinates by 4-point teaching
Fig. 4-11-90
P [ 2 ]
P [ 1 ]
P [ 3 ] P [ 4 ]
4-point teaching
Precondition: Coordinate values made for P[2], P[3], P[4] must be accurate when P[1] is
set as the origin position.
[Procedure]
1) In “MANUAL>COORDI” mode, press the
F 1
(4POINTS) key to enter the mode
for setting standard coordinates by 4-point teaching.
Fig. 4-11-91
MANUAL >COORDI>4POINTS 50% [MG][ J]
————————————x———————y———————z———————r———
Move arm to P[1] and press ENTER key
P[2]=
P[3]=
P[4]=
[POS] 0 0 0 0
VEL+ VEL-
n
NOTE
• Separate the teach points from
each other as much as possible.
• Setting might be impossible if one
side is less than 50mm.