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
1
In "MANUAL>COORDI" mode, press (4POINTS).
The 4-point teaching mode is entered for setting standard coordinates.
ＭＡＮＵＡＬ ＞ＣＯＯＲＤＩ＞４ＰＯＩＮＴＳ ５０％［ＭＧ］［ Ｊ］
ｘ ｙ ｚ ｒ
Ｍｏｖｅ ａｒｍ ｔｏ Ｐ［１］ ａｎｄ ｐｒｅｓｓ ＥＮＴＥＲ ｋｅｙ
Ｐ［２］＝
Ｐ［３］＝
Ｐ［４］＝
［ＰＯＳ］ ０ ０ ０ ０
ＶＥＬ＋ ＶＥＬ−
Setting the standard coordinates by 4-point teaching (2)
2
Determine teach point P[1].
Use the Jog keys to move the robot arm tip to teach point P[1] and press .
n
NOTE
Standard coordinates are calculated based on the teach points and input point
data, so perform teaching and point data input as accurately as possible.
3
Determine teach point P[2].
Use the same procedure as in step 2.
4
Enter the position of teach point P[2] in millimeters, relative to P[1] set
as the origin.
ＭＡＮＵＡＬ ＞ＣＯＯＲＤＩ＞４ＰＯＩＮＴＳ ５０％［ＭＧ］［ Ｊ］
ｘ ｙ ｚ ｒ
Ｍｏｖｅ ａｒｍ ｔｏ Ｐ［２］ ａｎｄ ｐｒｅｓｓ ＥＮＴＥＲ ｋｅｙ
Ｐ［２］＝ １００．００ ０．００＿
Ｐ［３］＝
Ｐ［４］＝
［ＰＯＳ］ ０ ０ ０ ０
ＶＥＬ＋ ＶＥＬ−
Setting the standard coordinates by 4-point teaching (3)
5
Determine teach points P[3] and P[4].
Use the same procedure as in steps 3 and 4.