YASKAWA Motoman UP6, Instructions Manual

Page: 183 / 561

3.7 Interference Area
3-25
Number Input of the Side of Cube and Teaching Center
*1
Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” alternate.
Select “CENTER POS”.
*2
The length is set.
*3
The message “Move to center point and teach” is displayed.
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 center point of the cube using the axis keys.
*5
The current position is registered as the center point of the cube.
Select “METHOD”
*1
Input data for length of the cube and press [ENTER]
*2
Press [MODIFY]
*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 : B A S E
T E A C H I N G M E T H O D : C E N T E R P O S
< MAX > < MIN > <LENGTH>
X 0.000 0.000 0.000
Y 0.000 0.000 0.000
!
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 : BASE
T E A C H I N G M E T H O D : C E N T E R P O S
< MAX > < MIN > <LENGTH>
X 0.000 0.000 0.000
Y 0.000 0.000
50.000
!
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 :C E N T E R P O S
< MAX > < MIN > <LENGTH>
X 0.000 0.000 0.000
Y 0.000 0.000 50.000
!Move to center point and teach
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