Pallet Definition By Teaching - Yamaha RCX221 User Manual

11.3.2

Pallet definition by teaching

n
NOTE
Pallets cannot be defi ned by teaching if return-to-origin is incomplete.
Perform teaching after performing return-to-origin.
[Procedure]
1) Select the pallet number in "MANUAL>PALLET" mode with the cursor ( ↑ / ↓ ) keys.
2) Press (METHOD) to enter "MANUAL>PALLET>METHOD" mode.
3) Select the dimension of the pallet to be defined from "2-D" (plane) or "3-D" (solid).

■ Pallet definition by teaching (1)

MANUAL>PALLET>METHOD
PALLET NO.=PL0
Select dimension of this pallet
2-D 3-D
4) Move the robot work point to P[1] used in the pallet definition, and perform teaching
by pressing
w
WARNING
TO AVOID HAZARDOUS SITUATIONS DO NOT ENTER THE ROBOT MOVEMENT
RANGE WHEN MANIPULATING THE ROBOT.
n
NOTE
• Each pallet is generated (outlined) with 5 points for pallet defi nition.
• Point data in the pallet defi nition must be entered in "mm" units.
• The 5 points should be defi ned in order from P[1] to P[5]. See "11.3
Displaying, editing and setting pallet defi nitions".
50%[MG][S0H0X]
[XY]
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11. "MANUAL" mode
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Chapter
4