Shift Coordinate Setting Method 1 - Yamaha RCX222 User Manual

11. "MANUAL" mode
11.5.3
This method sets the shift coordinate data by performing teaching at two points and then
entering the plus/minus direction of those two points.
The first teach point 1 (1st P) becomes the shift coordinate origin.

■ Shift coordinate setting method 1 (1)

Chapter
X
4
[Procedure]
1) In "MANUAL>SHIFT" mode, select the shift coordinate number with the cursor ( ↑ / ↓ )
key.
2) Press
■ Shift coordinate setting method 1 (2)
MANUAL>SHIFT>METHOD1
————————————x———————y———————z———————r———
1st P=
2nd P=
[POS]
3) Use the Jog keys to move the robot arm tip to teach 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.
4-122
Shift coordinate setting method 1
Point 2
(2nd P)
X'
(METHOD1) to enter "MANUAL>SHIFT> METHOD1" mode.
Move arm to P[1] and press ENTER key
600.00 0.00
Point 1
(1st P)
Y'
Y
50% [MG][S0H0X]
0.00 0.00
VEL+ VEL-