Yamaha RCX222, Руководство пользователя

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Chapter
4
OPERA
TION
11. "MANUAL" mode
n
NOTE
Perform teaching carefully to obtain accurate points. Precise shift coordinates
cannot be set if a point is inaccurate.
4) Press , and the current position is then obtained as "1st P".
(This value becomes the shift coordinate origin.)
■
Shift coordinate teaching
MANUAL >SHIFT>METHOD1 50% [MG][S0H0X]
————————————x———————y———————z———————r———
Move arm to P[2] and press ENTER key
1st P= 214.45 -15.01
2nd P=
[POS] 214.45 -15.01 0.00 0.00
0.00
VEL+ VEL-
5) Determine the teach point 2 with the same procedure as for point 1.
6) Select the plus/minus direction of point 1 towards point 2 by using (+X),
(-X), (+Y) or (-Y).
■
Coordinate direction setting
MANUAL >SHIFT>METHOD1 50% [MG][S0H0X]
Press F.key to get Direction
+——————————+———> +X
1st P. 2nd P.
+X
+X -X +Y -Y
————————————x———————y———————z———————r———
7) When the coordinate direction is selected, the shift coordinate values (dX, dY, dZ, dR)
are automatically calculated and stored.
The screen then returns to "MANUAL>SHIFT" mode.