Yamaha RCX240, Руководство пользователя

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4
1
2
3
5
6
7
8
9
10
4-90
Chapter 4 OPERATION
11. "MANUAL" mode
Chapter 4 OPERATION
4-91
If the above hand is defined, the robot moves with Jog keys as illustrated below.
Y
HAND 1
X
100.00mm
-90.00 degrees
ＭＡＮＵＡＬ ＞ＨＡＮＤ ５０％［ＭＧ］［Ｓ０Ｈ１Ｔ］
１ ２ ３ ４
Ｈ０ ＝ ０．００ １５０．００ ０．００ Ｒ
Ｈ１ ＝ −９０．００ １００．００ ０．００ Ｒ
Ｈ２ ＝ ０ ０．００ ０．００
Ｈ３ ＝ ０ ０．００ ０．００
Robot movement in "Tool coordinate" mode (example) (1)
Y
X
Y
X
Robot movement with to keys Robot movement with to and keys
Robot movement in "Tool coordinate" mode (example) (2)
Each time a Jog key is pressed, the robot moves a specified distance (inching movement).
When the Jog key is held down, the robot keeps moving. The robot stops when the Jog key is
released or either of the soft limit or shift coordinate range is reached.
The robot stops when the Jog key is released or the soft limit is reached.
The movement distance (inching distance) is equal to the manual movement speed setting (%)
multiplied by 0.01mm or 0.01 deg.
[Example] When manual movement speed is 20%:
Inching distance in "mm" units = 0.20mm
If robot movement beyond the +/- soft limits is attempted with the Jog keys, the error message
"2.1: Over soft limit" appears and the robot does not move. Likewise, if robot movement
beyond the shift coordinate range is attempted, the error message "2.11: Exceeded shift
coord. range" appears and the robot does not move.
If the current position is outside the soft limits, the error message "2.1: Over soft limit" also
appears and the robot does not move.