Yamaha RCX141, User Manual

Page: 194 / 402

4-
136
Operation
4
11. “MANUAL” mode
3) Perform teaching at points P[2] and P[3] as in step 2).
4) Use the
F 1
(+X) to
F 4
(-Y) keys to set the direction from P[1] to P[3].
Fig. 4-11-97
MANUAL >COORDI>3POINTS 50% [MG][ J]
Press F.key to get Direction
+———————————+———>
P[1] P[3]
[POS] -9654 48567 0 0
+X -X +Y -Y
5) Use the
0
to
9
,
.
keys to enter the length between P[1] and P[3],
and press the key.
(The length should be less than 1000.)
Fig. 4-11-98
MANUAL >COORDI>3POINTS 50% [MG][ J]
Select 1st P. to 3nd P. get Direction
+———————————+———> +X
P[1] P[3]
Enter the length of P[1]-P[3] [mm]
[1-1000] Enter >_
6) A message for checking the arm 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. 4-11-99
MANUAL >COORDI>3POINTS 50% [MG][ J]
Arm length[mm]
M1= 199.96 M2= 199.98
Offset pulse
M1= -12421 M2= 2001
Set OK? YES NO