Yamaha RCX142 User Manual page 309

w
WARNING
The robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
2. Operations and data when using the two-robot setting
Fig. 5-2-10 "mm" units (X) example (Two-robot setting: Sub group selected)
Subject group display
SG (Sub group is selected)
MANUAL
—————————————————————————————————————————
Current position
*Mx= 0.00 *My=
*Sx= 0.00 *Sy=
POINT PALLET
When return-to-origin is complete:
2) With the current position display in a "pulse" units (J) status, the Jog key can be
pressed to move the selected group's axis which corresponds to that Jog key.
With the current position display in a "mm" units (X) status, the Jog key can be
pressed to move the tip of the robot arm in the direction (orthogonal coordinates)
which corresponds to that Jog key.
For axes with auxiliary axes settings, only the corresponding axes are moved.
Fig. 5-2-11 Robot motion in "pulse" units (J) (ex)
Main group number 2 axis
Main group
number 1 axis
q
q With the main group selected, press #1+ , #1- to move the main group
Number 1 axis.
w With the main group selected, press #2+ , #2- to move the main group
Number 2 axis.
e With the sub group selected, press #1+ , #1- to move the sub group Number
1 axis.
r With the sub group selected, press #2+ , #2- to move the sub group Number
2 axis.
50/ 50%[SG][S0H4X]
0.00
0.00
VEL+ VEL-
Sub group number 2 axis
e
Sub group number 1 axis
5
7
5-