Yamaha RCX40 User Manual page 181

w
WARNING
The robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
n
NOTE
To perform teaching at point 1 with a
SCARA robot, always move in the
right-hand system.
To perform teaching at point 2 with a
SCARA robot, always move in the left-
handed system.
n
NOTE
• When teach point 1 is obtained,
the Z direction shift value is
automatically determined.
• If the key was pressed
ESC
during hand definition or hand
definition was not calculated, the
input data returns to the preceding
value.
• If teach points are not accurately
determined, the hand definition
will be inaccurate, so always
determine these points correctly.
3) Use the Jog keys to move the robot working point to point 1.
(Position it accurately.)
4) Press the key to enter the teaching value.
Fig. 4-11-75 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
5) Use the Jog keys to move the robot working point to point 2.
(Position it accurately.)
6) Press the key to enter the teaching value.
The hand definition setting ends and the screen returns to "MANUAL> HAND"
mode.
Valid keys and submenu descriptions in "MANUAL>HAND>METHOD1" mode are
shown below.
Valid keys Menu
Increases manual movement speed for the selected robot group in steps.
F4 VEL+
(1→5→20→50→100 %)
Decreases manual movement speed for the selected robot group in steps.
F5 VEL-
(100→50→20→5→1 %)
F8 UNITCHG Switches between the current display units (mm or pulses).
Increases manual movement speed for the selected robot group in 1%
F9 VEL++
increments.
Decreases manual movement speed for the selected robot group in 1%
F10 VEL--
decrements.
11. "MANUAL" mode
50% [MG][S0H0X]
-15.01 20.32
-15.01 20.32 0.00
VEL+
Function
4
VEL-
121
4-