Manual" Mode; Current Position - Yamaha RCX142 User Manual

n
NOTE
For details regarding the current
position display, also see
"11. "MANUAL" mode" in Chapter 4.
2. Operations and data when using the two-robot setting
2.2

"MANUAL" mode

The robot to be operated must be selected when performing the following operations in
the "MANUAL" mode:
• Manual movement
• Point data input by direct teaching
• Input by point data direct teaching
• Setting the point in pallet definition by teaching
• Pallet definition by teaching
• Manual movement speed change
• Shift coordinates setting method
• Hand definition setting
Note that the two-robot setting's function key display content when an absolute reset
occurs differs from that in the one-robot setting. For details, see "2.2.8 Absolute reset".
2.2.1

Current position

The robot's current position displays at the initial screen in the "MANUAL" mode. The
"M" display indicates the main robot axes, and the "S" display indicates the sub robot
axes. For settings with auxiliary axes, "m" indicates main auxiliary axes, and "s" indicates
sub auxiliary axes.
Fig. 5-2-5 "MANUAL" mode screen example ("pulse" units)
MANUAL
—————————————————————————————————————————
Current position
*M1=
*S1=
POINT PALLET
Current position display
M... Main robot axes
S.... Sub robot axes
1 ~ (numeric value)..."Pulse" units
Fig. 5-2-6 "MANUAL" mode screen example ("mm" units)
MANUAL
—————————————————————————————————————————
Current position
*Mx= 0.00 *My=
*Sx= 0.00 *Sy=
POINT PALLET
Current position display
M... Main robot axes
S.... Sub robot axes
x ~ (chars.)..."mm" units
50/ 50%[MG][S0H0J]
0 *M2= 0
0 *S2= 0
VEL+
m... Main auxiliary axes
s.... Sub auxiliary axes
50/ 50%[MG][S0H0X]
0.00
0.00
VEL+
m... Main auxiliary axes
s.... Sub auxiliary axes
5
VEL-
VEL-
5
5-