Point Setting In Pallet Definition - Yamaha RCX222 User Manual

11.3.1.1 Point setting in pallet definition

In "MANUAL>PALLET>EDIT" mode, a screen like that shown below is displayed.
n
NOTE
• Each pallet is generated with 5 points for pallet defi nition.
• These 5 points should be defi ned in order from P[1] to P[5]. See "11.3
Displaying, editing and setting pallet defi nitions".

■ Point setting in pallet definition

MANUAL>PALLET>EDIT
————————————x———————y———————z———————r———
POINT=P3996(P[1])-P4000(P[5])
P[1] = 98.87
P[2] = 122.62
P[3] = 98.62
[POS] 50.00
EDIT TEACH
The 3rd line shows the point numbers and point data in the pallet definition.
Valid keys and submenu descriptions in this mode are shown below.
Valid keys
Cursor key
( ↑ / ↓ )
F1
F2
F4
F5
F8
F9
F10
ROBOT
( + )
50%[MG][S0H0X]
-24.54 0.00
0.00
-24.54
-94.54 0.00
100.00 0.00
VEL+
Menu
Specifies the point data or scrolls the screen.
EDIT Edits the point in pallet definition.
TEACH Sets the point in pallet definition by teaching.
Increases manual movement speed for the selected
VEL+
robot group in steps. (1→5→20→50→100%)
Decreases manual movement speed for the selected
VEL-
robot group in steps. (100→50→20→5→1%)
UNITCHG Switches the current position display units.
Increases manual movement speed for the selected
VEL++
robot group in 1% increments.
Decreases manual movement speed for the selected
VEL--
robot group in 1% decrements.
Switches the robot group.
11. "MANUAL" mode
0.00
0.00
0.00
0.00
VEL-
Function
Chapter
4
4-107