Changing The Automatic Movement Speed; Executing The Point Trace - Yamaha RCX40 User Manual

9. "AUTO" mode
n
NOTE
When two robots are specified, two
speeds are displayed for "
". The speed shown
sub group
highlighted can be set. To switch the
robot group, use the ROBOT key
( + ).
LOWER MODE
n
NOTE
Automatic movement speeds once set
here are stored in the internal memory
even when the power is turned off.
If the speed is set with the program
command statement (SPEED
statement), the actual robot operating
speed will be the product of that speed
4
and the automatic movement speed.
For example, if the automatic
movement speed is 80% and the speed
specified by the SPEED statement is
50%, then the robot movement speed is
set as follows.
Operating speed = 80%×50% = 40%
n
NOTE
• When two robots are specified,
check the currently selected robot
group on the MPB screen.
"[MG]" indicates the main robot
group and "[SG]" the sub robot
group. To switch the robot group,
use the ROBOT key
( + ).
LOWER MODE
• Point trace cannot be performed
unless return-to-origin is
complete.
34
4-
9.6

Changing the automatic movement speed

/
main group Automatic movement speed for the selected robot group can be set within the range of 1
to 100%.
[Procedure]
1) Press the
F 4
speed in steps.
Each time the
in steps of 1← →5← →20← →50← →100%.
The maximum motor speed is set at 100%.
2) Press the
F 9
Each time the
changes in units of 1%.
Holding down the key changes the speed continuously.
9.7

Executing the point trace

Point data positions can be checked by actually moving the robot arm in the following
modes.
• PTP motion mode
• Arch motion mode
• Linear interpolation motion mode (main robot only)
[Procedure]
1) Press the
F 6
The screen switches to "AUTO>POINT" mode and the point data appears as shown
below.
Fig. 4-9-12 Point trace screen (with no auxiliary axis)
AUTO
————————————x———————y———————z———————r———
P3
P4
P5
COMNT :
[POS]
PTP
* The "[RIGHTY]" message on the first line appears only when a SCARA robot is
selected.
* The "[LEFTY]" message on the sixth line appears only when a SCARA robot is
selected, and a hand system flag is set for the point data.
(VEL+) or (VEL-) key in "AUTO" mode to change the
F 5
(VEL+) or (VEL-) key is pressed, the speed changes
F 4 F 5
(VEL++) or (VEL--) key to change the speed gradually.
F 10
(VEL++) or (VEL--) key is pressed, the speed
F 9 F 10
(POINT) key in "AUTO" mode.
> POINT [RIGHTY] 50/100% [MG][S0H0J]
= 150.50 64.53
= 96.65 -224.89
= -63432 19735
0 0
JUMP
21.78 -45.14
43.31 28.79
6243 22642
[LEFTY]
0 0
VEL+ VEL-