Yamaha RCX142, Руководство пользователя

Страница: 12 / 450

iv
11. “MANUAL” mode ...................................................................4-71
11.1 Manual movement ............................................................................ 4-74
11.2 Displaying and editing point data ..................................................... 4-77
11.2.1 Point data input and editing ............................................................................ 4-78
11.2.1.1 Restoring point data ........................................................................................ 4-79
11.2.2 Point data input by teaching ........................................................................... 4-80
11.2.3 Point data input by direct teaching .................................................................. 4-84
11.2.4 Point jump display .......................................................................................... 4-84
11.2.5 Copying point data ......................................................................................... 4-85
11.2.6 Erasing point data ........................................................................................... 4-86
11.2.7 Point data trace ............................................................................................... 4-87
11.2.8 Point comment input and editing .................................................................... 4-88
11.2.8.1 Point comment input and editing ..................................................................... 4-89
11.2.8.2 Point data input by teaching ............................................................................ 4-89
11.2.8.3 Jump to a point comment ................................................................................ 4-90
11.2.8.4 Copying a point comment ............................................................................... 4-91
11.2.8.5 Erasing point comments ................................................................................... 4-92
11.2.8.6 Point comment search ..................................................................................... 4-93
11.2.9 Point data error reset ....................................................................................... 4-94
11.3 Displaying, editing and setting pallet definitions ............................... 4-95
11.3.1 Editing pallet definitions ................................................................................. 4-97
11.3.1.1 Point setting in pallet definition ....................................................................... 4-98
11.3.1.1.1 Editing the point in pallet definition ................................................................... 4-99
11.3.1.1.2 Setting the point in pallet definition by teaching ................................................ 4-99
11.3.2 Pallet definition by teaching .......................................................................... 4-100
11.3.3 Copying a pallet definition ............................................................................ 4-102
11.3.4 Deleting a pallet definition ........................................................................... 4-103
11.4 Changing the manual movement speed .......................................... 4-104
11.5 Displaying, editing and setting shift coordinates .............................. 4-105
11.5.1 Editing shift coordinates ................................................................................ 4-108
11.5.1.1 Restoring shift coordinates ............................................................................. 4-109
11.5.2 Editing the shift coordinate range .................................................................. 4-109
11.5.2.1 Restoring a shift coordinate range .................................................................. 4-111
11.5.3 Shift coordinate setting method 1 .................................................................. 4-111
11.5.4 Shift coordinate setting method 2 .................................................................. 4-113
11.6 Displaying, editing and setting hand definitions .............................. 4-115
11.6.1 Editing hand definitions ................................................................................ 4-121
11.6.1.1 Restoring hand definitions ............................................................................. 4-122
11.6.2 Hand definition setting method 1 .................................................................. 4-122
11.7 Changing the display units .............................................................. 4-124
11.8 Absolute reset ................................................................................. 4-125
11.8.1 Checking absolute reset ................................................................................ 4-126
11.8.2 Absolute reset on each axis ........................................................................... 4-127
11.8.3 Absolute reset on all axes ............................................................................. 4-132
11.9 Setting the standard coordinates ...................................................... 4-136
11.9.1 Setting the standard coordinates by 4-point teaching .................................... 4-139
11.9.2 Setting the standard coordinate by 3-point teaching ...................................... 4-141
11.9.3 Setting the standard coordinates by simple teaching ..................................... 4-143
11.10 Executing the user function keys ..................................................... 4-145
12. “SYSTEM” mode ....................................................................4-146
12.1 Parameters ...................................................................................... 4-148
12.1.1 Robot parameters .......................................................................................... 4-150
12.1.2 Axis parameters ............................................................................................ 4-155
12.1.3 Other parameters .......................................................................................... 4-171
12.1.4 Parameters for option boards ......................................................................... 4-181
12.1.4.1 Option DIO setting ........................................................................................ 4-182
12.1.4.2 Serial I/O setting ............................................................................................ 4-183
12.1.4.3 Setting the network parameters ...................................................................... 4-185