Yamaha RCX141, Руководство пользователя

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4-
108
Operation
4
11. “MANUAL” mode
11.5.1 Editing shift coordinates
[Procedure]
1) In the “MANUAL>SHIFT” mode, select a shift coordinate number with the cursor
(
↑
/
↓
) keys
2) Press the
F 1
(EDIT) key to enter “MANUAL>SHIFT>EDIT” mode.
3) Use the cursor (
←
/
→
) key to move the cursor to the position you want to change.
4) Use the
0
to
9
,
+
,
–
,
.
and
SPACE
keys to enter the
shift coordinate data.
Enter a space to separate between the data for x, y, z, r. The data input formats are
as follows.
• To enter the data in Cartesian coordinates (“mm” units)
Enter a number consisting of an integer portion of up to 5 digits and having 2
or less places below the decimal point.
±
###.##,
±
####.#,
±
#####.
Fig. 4-11-54 Editing shift coordinate data
MANUAL >SHIFT>EDIT 50% [MG][S1H0X]
————————————x———————y———————z———————r———
S0 = 0.00 0.00 0.00 0.00
S1 = 300.00 0.00 100.00 180._
S2 = 300.00 -300.00 100.00 0.00
S3 = 0.00 0.00 0.00 180.00
[POS] 600.00 0.00 0.00 0.00
UNDO
5) Press the key, cursor up/down (
↑
/
↓
) keys or page up/down (
>>
,
<<
)
keys to finish the data input.
Press the
ESC
key if you want to cancel the data input.
6) To continue the editing, repeat steps 3) to 5).
7) Press the
ESC
key to quit editing and return to “MANUAL>SHIFT” mode.
Valid keys and submenu descriptions in “MANUAL>SHIFT>EDIT” mode are shown
below.
Valid keys Menu Function
F1
UNDO Reverses the last data input and restores the preceding data.
n
NOTE
Enter all shift data for x, y, z and r. If
omitted, “0” will be automatically
entered for that axis.
n
NOTE
The shift coordinate data on which the
cursor was positioned when returning
to “MANUAL>SHIFT” mode is used
as the shift coordinates for the
currently selected robot group.