R01AN5644EJ0100 Rev.1.00
Page 58 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
3.2.3 Training
Training is handled by the procedure shown in Figure 3-5. Move the arm to a desired point by hand, read the
coordinates by executing a command in the GUI, and then write the desired operations based on the
coordinates that were read out.
Saving the input command in a text file allows omission of the trouble of re-training by reading the text file
from the next time. Note that the application note "R01AN5662EJ0100". provides a reference to the usable
commands.
For reference, Figure 3-6 shows an example of training to move through the shape of the numeral 8 and
Figure 3-7 shows a training example for moving through the shape of the letter M.
Figure 3-5 Training Procedure
