Yamaha RCX141, User Manual

Page: 192 / 402

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134
Operation
4
11. “MANUAL” mode
2) Use the Jog keys to move the robot arm tip to teach point P[1] and press the key.
3) Perform teaching at point P[2] as in step 2).
4) Enter the position of teach point P[2] in millimeters, relative to P[1] set as the origin.
Fig. 4-11-92
MANUAL >COORDI>4POINTS 50% [MG][ J]
————————————x———————y———————z———————r———
Move arm to P[2] and press ENTER key
P[2]= 100.00 0.00_
P[3]=
P[4]=
[POS] 0 0 0 0
VEL+ VEL-
5) Repeat step 3), 4) to set teach points P[3] and P[4].
6) A message for checking the length and offset pulse value appears on the guideline.
(If the calculation failed, an error message appears.)
Press the
F 4
(YES) key to store the setting.
Press the
F 5
(NO) key if you want to cancel the setting.
Fig. 4-11-93
MANUAL >COORDI>4POINTS 50% [MG][ J]
————————————x———————y———————z———————r———
Arm length[mm]
M1= 199.96 M2= 199.98
Offset pulse
M1= -12421 M2= 2001
Set OK?
YES NO
n
NOTE
Standard coordinates are calculated
based on the teach points and input
point data, so perform teaching and
point data input as accurately as
possible.