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
11.2.3 Point data input by direct teaching
Point data can also be obtained by direct teaching (moving the robot by hand to the target point
while the robot servo is off).
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WARNING
WHEN YOU PERFORM DIRECT TEACHING, MAkE SURE THAT THE EMERGENCY STOP
BUTTON IS PRESSED SO THAT THE SERVO WILL NOT TURN ON.
1
Activate emergency stop.
Press the emergency stop button on the RPB.
2
In "MANUAL>POINT" mode, move the robot by hand to the target
point and perform point teaching.
For point data teaching methods, refer to the previous section "11.2.2 Point data input
by teaching". (In this procedure you move the robot by hand since the Jog keys cannot
be used.)
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NOTE
When the robot servo is off, automatic and manual operation cannot be
performed. There are two methods for turning on the robot servo: One is to use the
RPB and the other is to use the dedicated input.
Refer to "14. "UTILITY" mode" in this chapter, or refer to "1. Standard I/O interface
overview" in Chapter 6.
11.2.4 Point jump display
1
Press (JUMP) in "MANUAL>POINT" mode.
The message "Enter point no.>" appears on the guideline.
ＭＡＮＵＡＬ ＞ＰＯＩＮＴ ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］
ｘ ｙ ｚ ｒ
Ｐ７ ＝ １００．００ ２５０．００ １５．００ ３０．００
Ｐ８ ＝ ５０．００ １００．００ ５．００ １０．００
Ｐ９ ＝ １２２．６２ −２４．５４ １２．３５ −２３．１１
ＣＯＭＮＴ： ［ ］
［ＰＯＳ］ ５０．００ １００．００ ５．００ １０．００
Ｅｎｔｅｒ ｐｏｉｎｔ ｎｏ．＞１００＿
Point jump (1)