Yamaha RCX240, User Manual

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Chapter 4 OPERATION
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Chapter 4 OPERATION
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11. "MANUAL" mode
i
Current position
This shows the current position of the robot. When an "M" or "S" letter is followed by a number
it indicates the position in "pulse" units (integer display) and when an "x" to "a" letter follows,
it indicates "mm" units (decimal point display). When an asterisk (*) appears at the left of the
"M" and "S" letters, it indicates the origin sensor is on. An asterisk also appears when no origin
sensor is used.
An "M" letter means the main robot axis, and an "S" letter means the sub robot axis. When
auxiliary axes are specified, the lower-case letters "m" and "s" appear instead of upper-case
letters.
o
Guideline
The contents assigned to function keys are shown highlighted. A message on what to do next
also appears here in some operation steps.
Valid keys and submenu descriptions in "MANUAL" mode are shown below.
Valid keys Menu Function
to Moves the robot manually.
POINT Switches to the point data processing screen.
PALLET Switches to the pallet data processing screen.
ORIGIN Performs return-to-origin.
VEL+
Increases manual movement speed for the selected
robot group in steps.(1
→
5
→
20
→
50
→
100 %)
VEL-
Decreases automatic movement speed for the selected
robot group in steps.(100
→ 50 → 20 → 5 → 1 %)
*1 SHIFT Switches to the shift data processing screen.
*1
HAND Switches to the hand data processing screen.
*1
UNITCHG
Changes the current position display units to "mm" or
"pulse".
*1
VEL++
Increases manual movement speed for the selected
robot group in 1% increments.
*1
VEL--
Decreases manual movement speed for the selected
robot group in 1% decrements.
*2
RST.ABS Resets the absolute position sensor.
*2
COORDI Sets the standard coordinates.
*3 Switches the robot group.
*1: To use to , press to while holding down .
*2: To use or , press or while holding down .
*3: To use , press while holding down .