Yamaha DRCX, Руководство пользователя

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7-
4
7
EDITING POINT DA
TA
7-2 Teaching Playback
6) Move the robot to the teaching position. Each
time the
X
Z
–
or
X
Z
+
key is pressed, the robot
moves a certain amount in X-axis direction and
then stops.
[EDIT-PNT-TCH](1) 50
P0 X=0.00 [mm]
[ 0.00, 0.00]
1CHG 2DO 3Y 4next
[EDIT-PNT-TCH](1) 50
SPEED(1) = _
(speed) 1
→
100
[EDIT-PNT-TCH](1) 100
P500 X=19.27 [mm]
[ 167.24, -51.58]
1XY 2X 3Y
Holding down the
X
Z
– or
X
Z
+
key moves the
robot continuously in the X-axis direction at a
constant speed until the key is released.
To move the robot in the Y-axis direction, press
–
Y
R
or + Y
R
.
The amount of robot movement and the speed
are proportional to the number (teaching move-
ment data) displayed on the upper right of the
screen.
In the example at the right, the teaching move-
ment data is 50 (%), so the robot moves 0.5mm
each time the
X
Z
–
or
X
Z
+ key is pressed, as
calculated below:
1mm (constant)
×
(50/100) = 0.5mm
If the
X
Z
– or
X
Z
+
key is kept pressed, the ro-
bot continuously moves at a speed of 50mm/s,
as calculated below:
100mm/s (constant)
×
(50/100) = 50mm/s
7) Three different speed settings, SPEED (1),
SPEED (2), and SPEED (3), are selectable as
the teaching movement data. After pressing
F4
(next), each time
F1
(SPD) is pressed,
the settings change in the order of 1
→
2
→
3
→
1.
To change the teaching movement data setting,
press
F4
(next) and then press
F2
(S_SET).
Then enter the desired speed with the number
keys and press
.
The screen returns to step 6 when the speed
parameter has been changed correctly.
8) Move the robot to the teaching position in this
way and press the key. The current position
is input as point data.
When registering again the point which is al-
ready registered, the axis selection screen ap-
pears.
To register both X and Y axes, press
F1
(XY).
To register the X-axis only, press F2 (X). To
register the Y-axis only, press
F3
(Y).
[EDIT-PNT-TCH](1) 100
P500 X=167.24 [mm]
[ 167.24, -51.58]
1CHG 2DO 3Y 4next
9) The screen will return to step 6, and the current
position will be input as the point data.
c
CAUTION
When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE
mode function".)
• Robot movement speed is limited to 10mm/s or less (10 deg/s for rotary robot) in "SERVICE mode state"
when the robot movement speed limit is enabled.
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