Yamaha RCX40 User Manual page 140

11. "MANUAL" mode
4
w
WARNING
The robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
80
4-
2) Use the cursor (↑/↓) keys,
axes to perform point teaching.
As shown below, the point number at the left end should be highlighted when
teaching on all axes. When teaching on the standard axes their point data values
should be highlighted. When teaching on the auxiliary its point data value should be
highlighted.
Note that an undefined point cannot be specified except for point numbers.
Fig. 4-11-10 Point data teaching (with auxiliary axis [2])
MANUAL >POINT
————————————x———————y———————z———————r———
P7 = 100.00
P8 = 220.00
P9 = 400.00
COMNT:
[POS] -10450
EDIT TEACH
Fig. 4-11-11 Point data teaching (with auxiliary axis [3])
MANUAL>POINT
————————————x———————y———————z———————r———
P7 = 100.00
P8 = 220.00
P9 = 400.00
COMNT:
[POS] -10450
EDIT TEACH
Fig. 4-11-12 Point data teaching (with auxiliary axis [4])
MANUAL>POINT
————————x———————y———————z———————r———————a
P7 =00
P8 =00
P9 =00
COMNT:
[POS] 50
EDIT TEACH
3) Use the Jog keys to move the robot axis for teaching.
As the arm moves, the current position data on the 7th line on the screen changes.
(AXIS ←) or
F 14 F 15
When teaching on all axes
100%[MG][S0H0X]
250.00 15.00
150.00 115.00
200.00 15.00
[
42460 20051
JUMP VEL+
When teaching on standard axes
100%[MG][S0H0X]
250.00 15.00
150.00 115.00
200.00 15.00
[
42460 20051
JUMP VEL+
When teaching on auxiliary axis
100%[MG][S0H0X]
250.00 15.00 30.00
150.00 115.00 90.00
200.00 15.00 -30.00
[
42460 20051 23453
JUMP VEL+
(AXIS →) key to select the
30.00
90.00
-30.00
]
23453
VEL-
30.00
90.00
-30.00
]
23453
VEL-
0.00
80.00
50.00
]
38301
VEL-