Linear Interpolation Motion Mode - Yamaha RCX40 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 a priority over the current
arm type.
• The sub robot cannot perform
linear interpolation movement.
w
WARNING
Upon pressing the
robot starts to move. To avoid
danger, do not enter the robot
movement range.
40
4-
9.7.3

Linear interpolation motion mode

1. When no auxiliary axis is specified:
[Procedure]
1) Press the
below, then press the
Fig. 4-9-24 Point trace screen in linear interpolation 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. 4-9-25 Point trace screen in linear interpolation motion mode (with no auxiliary axis)
AUTO
————————————x———————y———————z———————r———
P3
P4
P5
COMNT :
[POS]
3) Press the
key, the
START
point position. The trace speed is one tenth of the automatic movement speed. If the
SCARA robot is selected and the hand system flag is set for the point data, this hand
system will have a priority. To stop the trace, press the
key in "AUTO>POINT" mode to display a screen like that shown
F 1
(LINE) key.
F 3
>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
LINEAR JUMP
key to move the robot by linear interpolation motion to the specified
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