Yamaha RCX142, User Manual

Page: 141 / 450

4-
79
4
Operation
11. “MANUAL” mode
3) Use the
0
to
9
,
+
,
–
,
.
and
SPACE
keys to enter the
point data.
Enter a space to separate between the data for x, y, z, r, a, b. The data input formats
are as follows.
• To enter the data in joint coordinates (“pulse” units)
Enter an integer of up to 8 digits.
(Even if the input data is less than 8 digits, it will be displayed in 8 digits when the
number of display digits is set to 8 in “SYSTEM>PARAM” mode.)
:
±
######
(
±
########)
• To enter the data in Cartesian coordinates (“mm” units)
Enter a number consisting of an integer portion of up to 5 digits and having 2 or less
places below the decimal point.
(Even if the input data is less than 8 digits, it will be displayed in 8 digits when the
number of display digits is set to 8 in “SYSTEM>PARAM” mode.)
:
±
###.##,
±
####.#,
±
#####.
(
±
#####.##,
±
#####.#,
±
#######.)
To set the SCARA robot and set a hand system flag of the extended setting, set 1 or 2
at the end of the b axis data. If a value other than 1 or 2 is set, or if no value is
designated, then 0 will be set to indicate that no hand system flag was set.
1: Indicates that point has been set with RIGHTY (right-handed system).
2: Indicates that point has been set with LEFTY (left-handed system).
4) Press the key, cursor up/down (
↑
/
↓
) keys or page up/down (
>>
,
<<
)
keys to finish the point data input.
Press the
ESC
key if you want to cancel the point data input.
Valid keys and submenu descriptions in “MANUAL>POINT>EDIT” mode are shown
below.
Cursor key
(
↑
/
↓
)
Page key
( / )
INS
DEL
F1
F3
UNDO
JUMP
Valid keys Menu Function
Moves the cursor and scrolls the screen.
Switches to other screen.
Toggles between Insert mode and Overwrite mode.
Deletes one character on the cursor position.
Restores the point data.
Jumps to the specified point number.
>> <<
11.2.1.1 Restoring point data
[Procedure]
During point data editing, pressing the
F 1
(UNDO) key reverses the last data input
and restores the preceding data.
This function is enabled only on lines that are not yet complete.
n
NOTE
• Enter all point data for the X-axis
to b-axis. If omitted, “0” will be
automatically entered for that
axis.
• The error message “Digit number
error” appears when the data
format is wrong. Enter it in the
correct format.
n
NOTE
To set the SCARA robot and set the
hand system flag in the point data, set
1 (RIGHTY: right-handed system) or 2
(LEFTY: left-handed system) at the end
of the b axis data setting.