Yamaha RCX142, Руководство пользователя

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wo-robot setting
2. Operations and data when using the two-robot setting
2.2.6.1 Shift coordinates setting method 1
The "Shift coordinates setting method 1" function allows shift coordinate data to be set by
teaching 2 points, and then entering the coordinate direction.
Point teaching occurs for the currently selected group, and shift coordinate data is created
based on that point data.
[Procedure]
1) In the MANUAL>SHIFT mode, use the cursor up/down (
↑
/
↓
) keys to select the
shift coordinate number.
2) Press the (
LOWER
+
MODE
) robot keys to toggle between the groups (the selected
group is displayed). An "[MG]" display indicates the main group, and "[SG]"
indicates the sub group.
Fig. 5-2-23 Shift coordinates setting method (Two-robot setting: Main group selected)
MANUAL >SHIFT
50 / 50%
[MG] [S0H0X]
—————————————x————————y————————z————————r———
S0 = 0.00 0.00 0.00 0.00
S1 = 0.00 0.00 0.00 0.00
S2 = 0.00 0.00 0.00 0.00
S3 = 0.00 0.00 0.00 0.00
[POS] 0.00 0.00 0.00 0.00
EDIT RANGE VEL+ VEL-
Subject group display
MG (Main group is selected)
Fig. 5-2-24 Shift coordinates setting method (Two-robot setting: Sub group selected)
MANUAL >SHIFT 50/ 50 % [SG] [S0H4X]
—————————————x————————y————————z————————r———
S0 = 0.00 0.00 0.00 0.00
S1 = 0.00 0.00 0.00 0.00
S2 = 0.00 0.00 0.00 0.00
S3 = 0.00 0.00 0.00 0.00
[POS] 0.00 0.00 0.00 0.00
EDIT RANGE VEL+ VEL-
Subject group display
SG (Sub group is selected)
3) Press the
F 6
(METHOD) key, use the Jog key to determine teaching points 1
and 2, then select the coordinate direction in order to register the Shift coordinates.
n
NOTE
For "Shift coordinates setting method
1" details, also see "11.5.3 Shift
coordinates setting method 1" in
Chapter 4.
w
WARNING
The robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
n
NOTE
Perform teaching carefully to obtain
accurate teach points. Precise shift
coordinates cannot be set if the teach
point is inaccurate.