Yamaha RCX222, User Manual

Page: 209 / 524

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Chapter
4
OPERA
TION
11. "MANUAL" mode
11.3.2 Pallet definition by teaching
n
NOTE
Pallets cannot be defined by teaching if return-to-origin is incomplete.
Perform teaching after performing absolute reset.
[Procedure]
1) Select the pallet number in "MANUAL>PALLET" mode with the cursor (
↑
/
↓
) keys.
2) Press (METHOD) to enter "MANUAL>PALLET>METHOD" mode.
3) Select the dimension of the pallet to be defined from "2-D" (plane) or "3-D" (solid).
■
Pallet definition by teaching (1)
MANUAL >PALLET>METHOD 50%[MG][S0H0X]
PALLET NO.=PL0 [XY]
Select dimension of this pallet
2-D 3-D
4) Move the robot work point to P[1] used in the pallet definition, and perform teaching
by pressing .
w
WARNING
TO AvOID HAzARDOUS SITUATIONS DO NOT ENTER THE ROBOT MOvEMENT
RANGE WHEN MANIPULATING THE ROBOT.
n
NOTE
• Each pallet is generated (outlined) with 5 points for pallet definition.
• Point data in the pallet definition must be entered in "mm" units.
• The 5 points should be defined in order from P[1] to P[5]. See "11.3
Displaying, editing and setting pallet definitions".