Ptp Motion Mode - Yamaha RCX142 User Manual

9. "AUTO" mode
4
n
NOTE
If the SCARA robot is selected and the
hand system flag is set for the point
data, this hand system will have
priority over the current arm type.
w
WARNING
Upon pressing the
robot starts to move. To avoid
danger, do not enter the robot
movement range.
36
4-
9.7.1

PTP motion mode

1. When no auxiliary axis is specified:
[Procedure]
1) Press the
below, then press the
Fig. 4-9-13 Point trace screen in PTP motion mode (with no auxiliary axis)
AUTO
————————————x———————y———————z———————r———
P3
P4
P5
COMNT :
[POS]
2) Use the cursor (↑/↓) keys to select the point number to be checked.
Fig. 4-9-14 Point trace screen in PTP motion mode (with no auxiliary axis)
AUTO
————————————x———————y———————z———————r————
P3
P4
P5
COMNT :
[POS]
3) Press the
The trace speed is one tenth of the automatic movement speed. If the SCARA robot is
key, the
START
selected and the hand system flag is set for the point data, then this hand system will
have priority. To stop the trace, press the
key in "AUTO>POINT" mode to display a screen like that shown
F 1
(PTP) key to select the PTP motion mode.
F 1
>POINT [RIGHTY]
= 150.50 64.53
= 96.65 -224.89
= -63432 19735
0
PTP ARCH LINEAR
>POINT [RIGHTY]
= 150.50 64.53
= 96.65 -224.89
= -63432 19735
0
PTP JUMP
key, and the robot moves by PTP motion to the specified point position.
START
50/100% [MG][S0H0J]
21.78 -45.14
43.31 28.79
6243 22642
[LEFTY]
0 0 0
50/100% [MG][S0H0J]
21.78 -45.14
43.31 28.79
6243 22642
[LEFTY]
0 0 0
VEL+ VEL-
key.
STOP