Yamaha RCX141, User Manual

Page: 195 / 402

4-
137
4
Operation
11. “MANUAL” mode
11.9.3 Setting the standard coordinates by simple teaching
Fig. 4-11-100
+Y direction
+X direction
[Procedure]
1) In “MANUAL>COODI” mode, press the
F 5
(SIMPLE) key to enter the mode for
simple standard coordinate setting.
Fig. 4-11-101
MANUAL >COORDI>SIMPLE 50% [MG][ J]
Please Move X & Y arms straight
before press Enter key.
0=======0======[ —> +X
X Arm Y Arm
————————————x———————y———————z———————r———
[POS] 24349 -1029 0 0
VEL+ VEL-
2) Use the Jog keys or your hands (if the servo is off) to move the robot arm so that the
X and Y arms are set in a straight line, then press the key.
At this point, the +X direction is set as shown in Fig. 4-11-95.
3) Enter the X arm length and press the key.
Fig. 4-11-102
MANUAL >COORDI>SIMPLE 50% [MG][ J]
Enter the length of X Arm [mm]
[1-1000] Enter >225.00_
————————————x———————y———————z———————r———
n
NOTE
Position the XY arms as accurately as
possible, so that they are exactly set in
a straight line including the rotation
center of the R-axis.