Yamaha RCX141, User Manual

Page: 98 / 402

4-
40
Operation
4
9. “AUTO” mode
9.7.3 Linear interpolation 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 3
(LINEAR) key.
Fig. 4-9-24 Point trace screen in linear interpolation 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) Use the cursor (
↑
/
↓
) keys to select the point number to be checked.
Fig. 4-9-25 Point trace screen in linear interpolation 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
LINEAR JUMP VEL+ VEL-
3) Press the
START
key to move the robot by linear interpolation 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.
• Linear interpolation motion at the
sub robot is not supported in
controller versions prior to Ver. 8.64.