Yamaha DRCX User Manual page 123

7-3 Direct Teaching
7
6
7-
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7) Move the robot to the teaching position by hand.
To check the point data which is already regis-
tered, press (X (Y)) and change the axis
F3
for point data display.
8) Move the robot to the teaching position in this
way and press the key. The current position
is input as point data.
When registering again the point which is al-
ready registered, the axis selection screen ap-
pears.
To register both X and Y axes, press
To register the X-axis only, press
register the Y-axis only, press
9) The screen will return to step 7, and the current
position will be input as the point data.
When all points have been edited in the same
way, press the key.
ESC
10)Following the message, release the emergency
stop button on the TPB.
11)A confirmation message appears asking
whether to turn the servo on.
To turn the servo on, press
To leave the servo off, press
12)The screen returns to step 3.
(XY).
F1
F2 (X). To
(Y).
F3
(yes).
F1
(no).
F2
[EDIT-PNT-DTCH]
P500 X=19.27 [mm]
[ 0.00, 0.00]
1CHG 2DO 3Y 4next
[EDIT-PNT-DTCH]
P500 X=19.27
[ 167.24, -51.58]
1XY 2X 3Y
[EDIT-PNT-DTCH]
P500 X=167.24 [mm]
[ 167.24, -51.58]
1CHG 2DO 3Y 4next
[EDIT-PNT-DTCH]
release EMG.button
[EDIT-PNT-DTCH]
servo on ready ?
1yes 2no
[EDIT-PNT]
select menu
1MDI 2TCH 3DTCH4DEL
[mm]