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
11.5.4 Shift coordinate setting method 2
This method sets the shift coordinate data by performing teaching at 2 points and then entering the
coordinate values of those 2 points.
The Z value of teach point 1 becomes the Z value of the shift coordinate.
Shift coordinate setting method 2 (1)
Point 1
(1st P)
Point 2
(2nd P)
X
X' Y'
Y
n
NOTE
When two robots (main and sub robots) are specified, check the currently selected
robot group on the RPB screen.
"[MG]" indicates the main robot group is selected, and "[SG]" indicates the sub
robot group is selected. To change the robot group, use ( + ).
1
In "MANUAL>SHIFT" mode, select the shift coordinate number with the
cursor (
/ ) keys.
2
Press (METHOD2)
"MANUAL>SHIFT>METHOD2" mode is entered.
ＭＡＮＵＡＬ ＞ＳＨＩＦＴ＞ＭＥＴＨＯＤ２ 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−
Shift coordinate setting method 2 (2)