Yamaha RCX40, User Manual

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Operation
11. “MANUAL” mode
4) When the axis 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. The format for point data input by teaching is set to the
currently selected coordinate system. However, when teaching is performed on
different axes, they must use the same coordinates as the teach points. Therefore, if
the point data is in “mm” units, then the current position must also be in “mm”
units.
When point data is already allotted to the currently selected point, a check message
“Overwrite point OK?” appears on the guideline when the
F 2
(TEACH) key is
pressed.
Press the
F 4
(YES) key to perform the teaching.
Press the
F 5
(NO) key if you want to cancel the teaching,
Fig. 4-11-13 Point data teaching (with auxiliary axis [5])
MANUAL >POINT>TEACH 100%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 15.00 30.00
P8 = 220.00 150.00 115.00 90.00
P9 = 400.00 200.00 15.00 -30.00
[POS] 212.43 152.31 100.26 86.86
Overwrite point OK? YES NO
COMNT: [ ]
After teaching, the specified point number moves to the next line automatically.
Fig. 4-11-14 Point data teaching (with auxiliary axis [6])
When teaching on all axes
MANUAL >POINT 100%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 15.00 30.00
P8 = 212.43 152.31 100.26 86.86
P9 = 400.00 200.00 15.00 -30.00
[POS] 212.43 152.31 100.26 86.86
EDIT TEACH JUMP VEL+ VEL-
COMNT: [ ]
Fig. 4-11-15 Point data teaching (with auxiliary axis [7])
When teaching on standard axes
MANUAL >POINT 100%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 15.00 30.00
P8 = 212.43 152.31 100.26 86.86
P9 = 400.00 200.00 15.00 -30.00
[POS] 212.43 152.31 100.26 86.86
EDIT TEACH JUMP VEL+ VEL-
COMNT: [ ]
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.