Yamaha RCX142, User Manual

Page: 103 / 450

4-
41
4
Operation
9. “AUTO” mode
2. When 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. 4-9-26 Point trace screen in linear interpolation motion mode (with 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 and
F 14
(AXIS
←
) or
F 15
(AXIS
→
) key so that the
point value of the robot axis to be checked is highlighted.
To perform trace for the robot main axes:
Fig. 4-9-27 Point trace screen in linear interpolation motion mode (with 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-
.
To perform trace for the auxiliary axis:
Fig. 4-9-28 Point trace screen in linear interpolation motion mode (with 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 auxiliary axis moves by PTP.) 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.