Hand Definition Setting Method 1 - Yamaha RCX221 User Manual

11.6.2

Hand definition setting method 1

By using this method, a hand attached to the 2nd arm can be set to the current hand
definition.
n
NOTE
Hand defi nition data is set by teaching the identical points that are used for
hand working points and non-hand working points.
[Procedure]
1) In "MANUAL>HAND" mode, use the cursor ( ↑ / ↓ ) key to select the hand definition
number.
2) Press (METHOD1) to enter "MANUAL>HAND> METHOD1" mode.
■ Hand setting 1 (1)
MANUAL>HAND>METHOD1
————————————1———————2———————3———————4———
Move arm to P[1] and press ENTER key
1st P=
2nd P=
[POS] 600.00
3) Use the Jog keys to move the robot working point to point 1. (Position it accurately.)
w
WARNING
THE ROBOT STARTS TO MOVE WHEN A JOG KEY IS PRESSED. TO AVOID
DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE.
4) Press to enter the teaching value.
■ Hand setting 1 (2)
MANUAL>HAND>METHOD1
————————————1———————2———————3———————4———
Move arm to P[2] and press ENTER key
1st P= 214.45
2nd P=
[POS] 214.45
50% [MG][S0H0X]
0.00 0.00 0.00
VEL+
50% [MG][S0H0X]
0.00
-15.01
-15.01 0.00 0.00
VEL+
11. "MANUAL" mode
VEL-
VEL-
Chapter
4
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