Yamaha RCX240, Руководство пользователя

Страница: 196 / 620

4
1
2
3
5
6
7
8
9
10
4-118
Chapter 4 OPERATION
11. "MANUAL" mode
Chapter 4 OPERATION
4-119
11.3.1.1.2 Setting the point in pallet definition by teaching
For point data teaching methods, refer to "11.2.2 Point data input by teaching".
11.3.2 Pallet definition by teaching
n
NOTE
Pallets cannot be defined by teaching if return-to-origin is incomplete. Perform
teaching after performing absolute reset or return-to-origin.
1
In "MANUAL>PALLET" mode, select the pallet number with the cursor
(
/ ) keys.
2
Press (METHOD).
"MANUAL>PALLET>METHOD" mode is entered.
3
Select the pallet to define.
Select "2-D" (plane) or "3-D" (solid).
ＭＡＮＵＡＬ ＞ＰＡＬＬＥＴ＞ＭＥＴＨＯＤ ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］
ＰＡＬＬＥＴ ＮＯ． ＝ＰＬ０ ［ＸＹ］
Ｓｅｌｅｃｔ ｄｉｍｅｎｓｉｏｎ ｏｆ ｔｈｉｓ ｐａｌｌｅｔ
２−Ｄ ３−Ｄ
Pallet definition by teaching (1)
4
Teach point [P1].
Move the robot work point to P[1] used in the pallet definition, and perform teaching
by pressing .
w
WARNING
TO AVOID HAzARDOUS SITUATIONS DO NOT ENTER THE ROBOT MOVEMENT RANGE
WHEN MANIPULATING THE ROBOT.
n
NOTE
• Each pallet is generated (outlined) with 5 points for pallet definition.
• Point data in the pallet definition must be entered in "mm" units.
• The 5 points should be defined in order from P[1] to P[5]. See "11.3 Displaying,
editing and setting pallet definitions".