YASKAWA Motoman UP6, Instructions Manual

Page: 182 / 561

3.7 Interference Area
3-24
Teaching Corner
*1
Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” alternate.
Select “MAX/MIN”.
*2
The message “Teach max./min. position” is displayed.
*3
Move cursor to “<MAX>” for changing maximum value and move cursor to “<MIN>” for
changing minimum value. The cursor moves to only either “<MIN>” or “<MAX>” at this
time. The cursor moves freely when this operation is canceled by pressing [CANCEL].
*4
Move the manipulator to the maximum or minimum position of the cube using the axis
keys.
*5
The cubic interference area is registered.
Select “METHOD”
*1
Press [MODIFY]
*2
Move the cursor to “<MAX>” or
“<MIN>”
*3
Move the manipulator using the axis keys
*4
Press [ENTER
*5
O peration
Explanation
I N T E R F E R E N C E A R E A
I N T E R F E R E N C E S I G : 1
M E T H O D
: C U B I C I N T E R F E R E N C E
C O N T R O L G R O U P : R1
C H E C K M E A S U R E : C O M M A N D P O S I T I O N
R E F C O O R D I N A T E : BASE
T E A C H I N G M E T H O D : M A X / M I N
< M A X > < MIN >
X 0.000 0.000
Y 0.000 0.000
!Teach max./min. position
D A T A
E D I T D I S P L A Y U T I L I T Y
R1 S C
L
I N T E R F E R E N C E A R E A
I N T E R F E R E N C E S I G : 1
M E T H O D
: C U B I C I N T E R F E R E N C E
C O N T R O L G R O U P : R1
C H E C K M E A S U R E : C O M M A N D P O S I T I O N
R E F C O O R D I N A T E : B A S E
T E A C H I N G M E T H O D : M A X / M I N
< MAX > < MIN >
X 100.000 0.000
Y 50.000 0.000
!
D A T A
E D I T D I S P L A Y UTILITY
R1 S C
L