Yamaha RCX40, User Manual

Page: 138 / 388

4-
78
Operation
4
11. “MANUAL” mode
11.2.2 Point data input by teaching
The current position of the robot can be obtained as point data by teaching.
When no auxiliary axis is used:
[Procedure]
1) In “MANUAL> POINT” mode, use the cursor (
↑
/
↓
) keys to select the point number
to obtain point data.
Fig. 4-11-6 Point data teaching (with no auxiliary axis [1])
When teaching at P8
MANUAL >POINT 50% [MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 15.00 30.00
P8 =
P9 = 122.62 -24.54 12.35 -23.11
[POS] 10.00 100.00 5.00 10.00
EDIT TEACH JUMP VEL+ VEL-
COMNT: [ ]
2) Use the Jog keys to move the robot arm.
As the arm moves, the current position data on the 7th line on the screen changes.
3) When the arm arrives at the target point, press the
F 2
(TEACH) key.
Teaching is performed so that the current robot position data is allotted to the
currently selected point number.
After teaching, the pointer cursor moves down to the next line automatically.
The format for point data input by teaching is set to the currently selected coordi-
nate system.
Fig. 4-11-7 Point data teaching (with no auxiliary axis [2])
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
[POS] 50.00 100.00 5.00 10.00
EDIT TEACH JUMP VEL+ VEL-
COMNT: [ ]
n
NOTE
Point data teaching cannot be
performed when return-to-origin is
incomplete. Perform point teaching
after performing absolute reset.
w
WARNING
The robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
n
NOTE
When two robots (main and sub
robots) are specified, check the
currently selected robot group on the
MPB before performing point
teaching.
“[MG]” indicates the main robot
group is selected, and “[SG]”
indicates the sub robot group is
selected. To change the robot group,
use the ROBOT (
LOWER
+
MODE
) key.
c
CAUTION
To perform teaching at a point on the
Cartesian coordinates (millimeter
units) with a SCARA robot, always
use the correct hand system that
should be actually moved.
It cannot be guaranteed that the
robots will move to the same position
if moving with a hand system
different from that used for teaching.