Yamaha RCX40, User Manual

Page: 172 / 388

4-
112
Operation
4
11. “MANUAL” mode
4) Press the key to obtain the current position as “1st P”.
An edit cursor appears at the head of the “1st P” line.
Fig. 4-11-60 Shift coordinate setting
MANUAL >SHIFT>METHOD2 50% [MG][S0H0X]
————————————x———————y———————z———————r———
Enter the point data [mm]
1st P=_ 0.00 0.00 0.00
2nd P=
[POS] 13.00 150.00 0.00 0.00
VEL+ VEL-
5) Use the
0
to
9
,
+
,
–
,
.
and
SPACE
keys to enter the
point data (x, y, z) and press the key.
6) Determine teach point 2 with the same procedure as for teach point 1.
7) When the teach point 2 has been entered, the shift coordinates (dX, dY, dZ and dR)
are automatically calculated and stored.
The screen then returns to “MANUAL>SHIFT” mode.
Valid keys and submenu descriptions in “MANUAL>SHIFT>METHOD2” mode are
shown below.
F4
F5
F8
F9
F10
Valid keys
VEL+
VEL-
UNITCHG
VEL++
VEL--
Menu Function
Increases manual movement speed for the selected robot group in steps.
(1
→
5
→
20
→
50
→
100 %)
Decreases manual movement speed for the selected robot group in steps.
(100
→
50
→
20
→
5
→
1 %)
Switches between the current display units (mm or pulses).
Increases manual movement speed for the selected robot group in 1%
increments.
Decreases manual movement speed for the selected robot group in 1%
decrements.
n
NOTE
Enter all point data (x, y, z) (x, y). If
omitted, “0” will be automatically
entered for that axis.
c
CAUTION
If teach points and input points are
not accurately determined, calcula-
tion results will be inaccurate, so
always determine these points
correctly.
n
NOTE
The Z-direction shift value is automati-
cally obtained when teach point 1 is
determined, so the Z-axis data at teach
point 2 is ignored.