Yamaha RCX142, User Manual

Page: 99 / 450

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37
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 1
(PTP) key.
Fig. 4-9-15 Point trace screen in PTP 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. 4-9-16 Point trace screen in PTP 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 JUMP VEL+ VEL-
.
To perform trace for the auxiliary axis:
Fig. 4-9-17 Point trace screen in PTP 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 JUMP VEL+ VEL-
3) Press the
START
key, and the robot moves by PTP 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.