Yamaha RCX222, User Manual

Page: 222 / 524

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Chapter
4
OPERA
TION
4-125
11. "MANUAL" mode
11.5.3 Shift coordinate setting method 1
This method sets the shift coordinate data by performing teaching at two points and then
entering the plus/minus direction of those two points.
The first teach point 1 (1st P) becomes the shift coordinate origin.
■
Shift coordinate setting method 1 (1)
X
X’
Y Y’
Point 1
(1st P)
Point 2
(2nd P)
[Procedure]
1) In "MANUAL>SHIFT" mode, select the shift coordinate number with the cursor (
↑
/
↓
)
key.
2) Press (METHOD1) to enter "MANUAL>SHIFT> METHOD1" mode.
■
Shift coordinate setting method 1 (2)
MANUAL >SHIFT>METHOD1 50% [MG][S0H0X]
————————————x———————y———————z———————r———
Move arm to P[1] and press ENTER key
1st P=
2nd P=
[POS] 600.00 0.00 0.00 0.00
VEL+ VEL-
3) Use the Jog keys to move the robot arm tip to the teach point 1. (Position it accurately.)
w
WARNING
THE ROBOT STARTS TO MOvE WHEN A JOG KEY IS PRESSED. TO AvOID
DANGER, DO NOT ENTER THE ROBOT MOvEMENT RANGE.