Yamaha RCX40, User Manual

Page: 59 / 388

11.“MANUAL” mode .......................................................................... 4-71
11.1 Manual movement .............................................................................. 4-73
11.2 Displaying and editing point data ........................................................ 4-75
11.2.1 Point data input and editing ................................................................. 4-76
11.2.1.1 Restoring point data ............................................................................... 4-77
11.2.2 Point data input by teaching ................................................................. 4-78
11.2.3 Point data input by direct teaching ....................................................... 4-82
11.2.4 Point jump display ............................................................................... 4-82
11.2.5 Copying point data .............................................................................. 4-83
11.2.6 Erasing point data ................................................................................ 4-84
11.2.7 Point data trace .................................................................................... 4-85
11.2.8 Point comment input and editing ......................................................... 4-86
11.2.8.1 Point comment input and editing ........................................................... 4-87
11.2.8.2 Point data input by teaching ................................................................... 4-87
11.2.8.3 Jump to a point comment ....................................................................... 4-88
11.2.8.4 Copying a point comment ...................................................................... 4-89
11.2.8.5 Erasing point comments ......................................................................... 4-90
11.2.8.6 Point comment search ............................................................................ 4-91
11.2.9 Point data error reset ............................................................................ 4-92
11.3 Displaying, editing and setting pallet definitions ................................. 4-93
11.3.1 Editing pallet definitions ....................................................................... 4-95
11.3.1.1 Point setting in pallet definition .............................................................. 4-96
11.3.1.1.1 Editing the point in pallet definition ....................................................... 4-97
11.3.1.1.2 Setting the point in pallet definition by teaching .................................... 4-97
11.3.2 Pallet definition by teaching ................................................................. 4-98
11.3.3 Copying a pallet definition ................................................................. 4-100
11.3.4 Deleting a pallet definition ................................................................. 4-101
11.4 Changing the manual movement speed ............................................. 4-102
11.5 Displaying, editing and setting shift coordinates ................................ 4-103
11.5.1 Editing shift coordinates ..................................................................... 4-106
11.5.1.1 Restoring shift coordinates .................................................................... 4-107
11.5.2 Editing the shift coordinate range ....................................................... 4-107
11.5.2.1 Restoring a shift coordinate range ......................................................... 4-109
11.5.3 Shift coordinate setting method 1 ....................................................... 4-109
11.5.4 Shift coordinate setting method 2 ....................................................... 4-111
11.6 Displaying, editing and setting hand definitions ................................ 4-113
11.6.1 Editing hand definitions ..................................................................... 4-119
11.6.1.1 Restoring hand definitions .................................................................... 4-120
11.6.2 Hand definition setting method 1 ....................................................... 4-120
11.7 Changing the display units ................................................................ 4-122
11.8 Absolute reset ................................................................................... 4-123
11.8.1 Checking absolute reset ..................................................................... 4-124
11.8.2 Axis absolute reset ............................................................................. 4-125
11.8.3 Absolute reset on all axes ................................................................... 4-129
11.9 Setting the standard coordinates ........................................................ 4-133
11.9.1 Setting the standard coordinates by 4-point teaching ......................... 4-136
11.9.2 Setting the standard coordinate by 3-point teaching ........................... 4-138
11.9.3 Setting the standard coordinates by simple teaching .......................... 4-140
11.10Executing the user function keys ....................................................... 4-142
12.“SYSTEM” mode ........................................................................... 4-143
12.1 Parameters ........................................................................................ 4-145
12.1.1 Robot parameters ............................................................................... 4-147
12.1.2 Axis parameters ................................................................................. 4-152
12.1.3 Other parameters ............................................................................... 4-168
12.1.4 Parameters for option boards .............................................................. 4-174
12.1.4.1 Option DIO setting ............................................................................... 4-175
12.1.4.2 Serial I/O setting ................................................................................... 4-176