Yamaha RCX222, Руководство пользователя

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Chapter
4
OPERA
TION
9. "AUTO" mode
9.7.3 Linear interpolation motion mode
[Procedure]
1) Press in "AUTO>POINT" mode to display a screen like that shown below, then
press (LINEAR).
■
Point trace screen in linear interpolation motion mode (1)
AUTO >POINT 100% [MG][S0H0J]
————————————x———————y———————z———————r———
P3 = 150.50 64.53
P4 = 96.65 -224.89
P5 = -63432 19735
PTP ARCH LINEAR
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
0.00 0.00
0.00 0.00
0.00 0.00
2) Use the cursor (
↑
/
↓
) keys to select the point number to be checked.
n
NOTE
Linear interpolation motion at the sub robot is not supported in controller
versions prior to Ver. 9.11.
■
Point trace screen in linear interpolation motion mode (2)
AUTO >POINT 100% [MG][S0H0J]
————————————x———————y———————z———————r———
P3 = 150.50 64.53
P4 = 96.65 -224.89
P5 = -63432 19735
LINEAR JUMP VEL+ VEL-
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
0.00 0.00
0.00 0.00
0.00 0.00
3) Press to move the robot by linear interpolation motion to the specified point
position. The trace speed is one fifth of the automatic movement speed. To stop the
trace, press .
w
WARNING
UPON PRESSING , THE ROBOT STARTS TO MOvE. TO AvOID DANGER, DO
NOT ENTER THE ROBOT MOvEMENT RANGE.