Yamaha RCX222, User Manual

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4-90 4-91
Chapter
4
OPERA
TION
11. "MANUAL" mode
11.2.2 Point data input by teaching
The current position of the robot can be obtained as point data by teaching.
n
NOTE
Point data teaching cannot be performed when return-to-origin is
incomplete. Perform point teaching after performing absolute reset.
w
WARNING
THE ROBOT STARTS TO MOvE WHEN A JOG KEY IS PRESSED. TO AvOID
DANGER, DO NOT ENTER THE ROBOT MOvEMENT RANGE.
[Procedure]
1) In "MANUAL> POINT" mode, use the cursor (
↑
/
↓
) keys to select the point number to
obtain point data.
■
Point data teaching (1)
When teaching at P8
MANUAL >POINT 50% [MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00
P8 =
P9 = 122.62 -24.54
EDIT TEACH JUMP VEL+ VEL-
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
0.00 0.00
0.00 0.00
2) Use the Jog keys to move the robot arm.
As the arm moves, the current position data on the 7th line on the screen changes.
3) When the arm arrives at the target point, press (TEACH).
Teaching is performed so that the current robot position data is allotted to the
currently selected point number.
After teaching, the pointer cursor moves down to the next line automatically.
The format for point data input by teaching is set to the currently selected coordinate
system.