Yamaha RCX240, User Manual

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Chapter 5 TWO-ROBOT SETTING Chapter 5 TWO-ROBOT SETTING
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Current position of sub group
ＭＡＮＵＡＬ ＞ＰＯＩＮＴ ５０／ ５０ ％［ＳＧ］［Ｓ０Ｈ４Ｘ］
ｘ ｙ ｚ ｒ
Ｐ７ ＝ １００．００ ２５０．００ ０．００ ０．００
Ｐ８ ＝
Ｐ９ ＝ １２２．６２ ２４．５４ ０．００ ０．００
ＣＯＭＮＴ： ［ ］
［ＰＯＳ］ １０．００ １００．００ ０．００ ０．００
ＥＤＩＴ ＴＥＡＣＨ ＪＵＭＰ ＶＥＬ＋ ＶＥＬー
Subject group display
SG (Sub group is selected)
Point trace screen (two-robot setting: Sub group selected)
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Use the cursor up/down ( / ) keys to move the cursor to the
point number where an input is desired.
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Use the Jog key to move the robot arm.
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WARNING
THE ROBOT STARTS TO MOVE WHEN A jOG kEY IS PRESSED. TO AVOID DANGER, DO
NOT ENTER THE ROBOT MOVEMENT RANGE.
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When the axis reaches the target point, press (TEACH).
The specified point is "taught" as the current position of the selected group. Point data
teaching inputs are made in the currently selected coordinate system format.
If a point data exists for the specified point number, a confirmation message displays at
the guideline when (TEACH) is pressed.
To execute the teaching operation, press (YES).
To abort the teaching operation, press (NO).
2.2.3.2 Input by point data direct teaching
Input by point data direct teaching consists of registering the currently selected group's coordinate
values as point data in the same manner as when performing teaching by using the Jog key.
Before executing this function, be sure to verify the currently selected group. The selected group
can be changed by the same procedure as that described in section "2.2.3.1 Point data input by
teaching".
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NOTE
For details concerning input by point data direct teaching, also see "11.2.3 Point
data input by direct teaching" in Chapter 4.
2. Operations and data when using the two-robot setting