Yamaha RCX222, Руководство пользователя

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Chapter
4
OPERA
TION
11. "MANUAL" mode
11.8.3 Absolute reset on all axes
This section explains how to perform absolute reset on all axes of the robot controller. The
sequence for performing absolute reset of the axes is given below.
1. First, perform absolute reset at the current position, on all axes that use the mark
method.
2. Next, perform absolute reset according to the return-to-origin sequence on axes using
the stroke end and sensor methods.
Valid keys Menu Function
Cursor key
(
↑
/
↓
)
Specifies the axis definition number.
F1 ADJ.+
Moves the selected axis in the plus direction to the first
position where absolute reset is possible.
F2 ADJ.-
Moves the selected axis in the minus direction to the
first position where absolute reset is possible.
F4 VEL+
Increases manual movement speed for the selected
robot group in steps. (1 → 5 → 20 → 50 → 100%)
F5 VEL-
Decreases manual movement speed for the selected
robot group in steps. (100
→
50
→
20
→
5
→
1%)
F9 VEL++
Increases manual movement speed for the selected
robot group in 1% increments.
F10 VEL--
Decreases manual movement speed for the selected
robot group in 1% decrements.
Key operations to move to a position where absolute reset is possible
For instance, when the current axis position is
q
(machine reference: 82%):
Press (ADJ.+) to move to position
w
and the machine reference will change
to around 50%. (Absolute reset is now possible.)
or
Press (ADJ.-) to move to position
e
and the machine reference will change to
around 50%. (Absolute reset is now possible.)
■
Key operations to move to a position where absolute reset is possible
Minus (-) direction
Machine reference (%)
Plus (+) direction
: Range in which absolute reset can be made (44 to 56%).
0 25 50
e q w
75 0 25 50 75 0