Setting The Standard Coordinate By 3-Point Teaching - Yamaha RCX40 User Manual

11. "MANUAL" mode
n
NOTE
Separate the teach points from each
other as much as possible.
4
n
NOTE
The standard coordinates are
calculated based on the teach points
and input point data, so perform
teaching and point data input as
accurately as possible.
138
4-
11.9.2

Setting the standard coordinate by 3-point teaching

Fig. 4-11-97
P[1]
Precondition: All 3 points P[1], P[2] and P[3] must be on a straight line, with P[2] set at
the midpoint between P[1] and P[3].
[Procedure]
1) In "MANUAL>COORDI" mode, press the
mode for setting standard coordinates with 3-point teaching.
Fig. 4-11-98
MANUAL>COORDI>3POINTS
————————————x———————y———————z———————r———
Move arm to P[1] and press ENTER key
P[1]=
P[2]=
P[3]=
[POS]
2) Use the Jog keys to move the robot arm tip to teach point P[1] and press the
key.
Fig. 4-11-99
MANUAL>COORDI>3POINTS
————————————x———————y———————z———————r———
Move arm to P[2] and press ENTER key
P[1]= -43202
P[2]=
P[3]=
[POS] -43202
L L
P[2]
(3POINTS) key to enter the
F 2
50% [MG][
0 0 0
VEL+
50% [MG][
47158
47158 0
VEL+
P[3]
J]
0
VEL-
J]
0
VEL-