Yamaha CEmarking RCX221, Руководство пользователя

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4-40
Chapter
4
OPERA
TION
9. "AUTO" mode
9.7.1 PTP motion mode
[Procedure]
1) Press in "AUTO>POINT" mode to display a screen like that shown below, then
press (PTP) to select the PTP motion mode.
■
Point trace screen in PTP motion mode (1)
AUTO >POINT 100% [MG][S0H0J]
————————————x———————y———————z———————r———
P3 = 150.50 64.53
P4 = 96.65 -224.89
P5 = -63432 19735
PTP ARCH LINEAR
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
0.00 0.00
0.00 0.00
0.00 0.00
2) Use the cursor (
↑
/
↓
) keys to select the point number to be checked.
■
Point trace screen in PTP motion mode (2)
AUTO >POINT 100% [MG][S0H0J]
————————————x———————y———————z———————r————
P3 = 150.50 64.53
P4 = 96.65 -224.89
P5 = -63432 19735
0
PTP JUMP VEL+ VEL-
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
0.00 0.00
0.00 0.00
0.00 0.00
3) Press , and the robot moves by PTP motion to the specified point position. The
trace speed is one fifth of the automatic movement speed. To stop the trace, press
.
w
WARNING
UPON PRESSING , THE ROBOT STARTS TO MOVE. TO AVOID DANGER, DO
NOT ENTER THE ROBOT MOVEMENT RANGE.