Omron YRCX Series, Руководство по эксплуатации

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3
Opera
tion
3-10
3.1 PTP motion
Valid keys and submenu descriptions on the "PTP (ALL)" and "PTP (SEP)" screens are shown below.
Valid keys Menu Function
/ / / Moves the cursor.
Executes the point trace.
Stops the point trace.
SPEED Sets the movement speed for the point trace.
ARCH Changes the trace type to arch motion.
LINEAR Changes the trace type to the linear interpolation motion.
UNIT
Changes the display units of the current position to [pulse], [mm], and [mm](tool) in this
order.
JOG Moves to the "JOG“ screen.
EDIT Moves to the "POINT EDIT" screen.
JUMP Displays the point data of the specified point number.
SEP / ALL Changes the point trace target axis to individual axis or all axes.
Returns to the previous screen.
WARNING
The robot moves when point trace starts. To avoid danger, do not enter the robot movement range.
■
All axes point trace
Step 1
Display the "PTP (ALL)" screen.
To display the screen, select [Operation] from the initial screen and then [Point Trace], or press the F2 key
(PTP) on the [LINEAR] or [ARCH] screen.
"PTP (ALL)" screen
Step 2
Step 2
Select the point number to check.
Use the cursor keys to select [ ] or [ ] on
the screen and press the ENTER key to
change the point number.
Or, select [P00000] to input the point number
directly, and then press the ENTER key.
The point number can also be selected with
the F7 key (JUMP).
For details, refer to "3.6 Jumping the point
display" in this Chapter.
NOTE
When a SCARA type robot is used and a hand
system flag is set for the point data, the hand
system will have priority over the current arm type.
Step 3
Execute point trace.
Press the RUN key and the robot moves by PTP motion to the position of the selected point. The trace
speed is 1/10 of the AUTO movement speed.
To stop point trace, press the STOP key.
*For details about how to set the speed, refer to "3.4 Setting the speed" in this Chapter.