Yamaha RCX142, User Manual

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Operation
11. “MANUAL” mode
11.9.2 Setting the standard coordinate by 3-point teaching
Fig. 4-11-106
P[2] P[3]
P[1]
L L
Precondition: All 3 points P[1], P[2] and P[3] must be on a straight line, with P[2] set at
the midpoint between P[1] and P[3].
[Procedure]
1) In “MANUAL>COORDI” mode, press the
F 2
(3POINTS) key to enter the
mode for setting standard coordinates with 3-point teaching.
Fig. 4-11-107
MANUAL >COORDI>3POINTS 50% [MG][ J]
————————————x———————y———————z———————r———
Move arm to P[1] and press ENTER key
P[1]=
P[2]=
P[3]=
[POS] 0 0 0 0
VEL+ VEL-
2) Use the Jog keys to move the robot arm tip to teach point P[1] and press the
key.
Fig. 4-11-108
MANUAL >COORDI>3POINTS 50% [MG][ J]
————————————x———————y———————z———————r———
Move arm to P[2] and press ENTER key
P[1]= -43202 47158
P[2]=
P[3]=
[POS] -43202 47158 0 0
VEL+ VEL-
n
NOTE
Separate the teach points from each
other as much as possible.
n
NOTE
Standard coordinates are calculated
based on the teach points and input
point data, so perform teaching and
point data input as accurately as
possible.