Yamaha RCX141, User Manual

Page: 96 / 402

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Operation
4
9. “AUTO” mode
9.7.2 ARCH motion mode
1. When no auxiliary axis is specified:
[Procedure]
1) Press the
F 1
key in “AUTO>POINT” mode to display a screen like that shown
below, then press the
F 2
(ARCH) key.
Fig. 4-9-18 Point trace screen in ARCH motion mode (with no auxiliary axis)
AUTO >POINT [RIGHTY] 50 /100% [MG][S0H0J]
————————————x———————y———————z———————r———
P3 = 150.50 64.53 21.78 -45.14
P4 = 96.65 -224.89 43.31 28.79
P5 = -63432 19735 6243 22642
COMNT : [LEFTY]
[POS] 0 0 0 0
PTP ARCH LINEAR
2) Press the
F 6
(A.AXIS+) or
F 7
(A.AXIS -) to select the axis to move by arch
motion.
The selected axis is indicated on the message line as in “ARCH(z)”.
Fig. 4-9-19 Point trace screen in ARCH motion mode (with no auxiliary axis)
AUTO >POINT [RIGHTY] 50 /100% [MG][S0H0J]
————————————x———————y——ARCH(z)——————r———
P3 = 150.50 64.53 21.78 -45.14
P4 = 96.65 -224.89 43.31 28.79
P5 = -63432 19735 6243 22642
COMNT : [LEFTY]
[POS] 0 0 0 0
ARCH A.POS JUMD VEL+ VEL–
3) Press the
F 2
(A.POS) key and set the arch motion position.
Fig. 4-9-20 Point trace screen in ARCH motion mode (with no auxiliary axis)
AUTO >POINT [RIGHTY] 50 /100% [MG][S0H0J]
————————————x———————y——ARCH(z)——————r———
P3 = 150.50 64.53 21.78 -45.14
P4 = 96.65 -224.89 43.31 28.79
P5 = -63432 19735 6243 22642
COMNT : [LEFTY]
[POS] 0 0 0 0
Enter ARCH data> 20000
4) Use the cursor (
↑
/
↓
) keys to select the point number to be checked.
5) Press the
START
key to move the robot by arch motion to the specified point position.
The trace speed is one tenth of the automatic movement speed. If the SCARA robot is
selected and the hand system flag is set for the point data, then this hand system will
have priority. To stop the trace, press the
STOP
key.
w
WARNING
Upon pressing the
START
key, the
robot starts to move. To avoid
danger, do not enter the robot
movement range.
n
NOTE
If the SCARA robot is selected and the
hand system flag is set for the point
data, then this hand system will have
priority over the current arm type.