Yamaha RCX142 User Manual page 101

n
NOTE
If the SCARA robot is selected and the
hand system flag is set for the point
data, then this hand system will have a
priority over the current arm type.
w
WARNING
Upon pressing the
START
robot starts to move. To avoid
danger, do not enter the robot
movement range.
2. When auxiliary axis is specified:
[Procedure]
1) Press the
F 1
below, then press the
Settings in steps 2) and 3) are not required when performing point trace using an
auxiliary axis.
Fig. 4-9-21 Point trace screen in ARCH motion mode (with auxiliary axis)
AUTO>POINT
————————————x———————y———————z———————r———
P3
P4
P5
COMNT :
[POS]
PTP
2) Press the
F 6
motion.
The selected axis is indicated on the message line, for example "ARCH(z)" as shown
below.
Fig. 4-9-22 Point trace screen in ARCH motion mode (with auxiliary axis)
AUTO>POINT
————————————x———————y——ARCH(z)——————r———
P3
P4
P5
COMNT :
[POS]
ARCH
3) Press the
F 2
Fig. 4-9-23 Point trace screen in ARCH motion mode (with auxiliary axis)
AUTO>POINT
————————————x———————y———————z———————r———
P3
P4
P5
COMNT :
[POS]
Enter ARCH data>
4) Use the cursor (↑/↓) keys and
point value of the robot axis to be checked is highlighted.
5) Press the
START
(The auxiliary axis moves by PTP.) The trace speed is one tenth of the automatic
key, the
movement speed. If the SCARA robot is selected and the hand system flag is set for
the point data, then this hand system will have priority. To stop the trace, press the
key.
STOP
key in "AUTO>POINT" mode to display a screen like that shown
(ARCH) key.
F 2
[RIGHTY] 50/100% [MG][S0H0J]
= 150.50 64.53
= 96.65 -224.89
= -63432 19735
0 0
ARCH LINEAR
(A.AXIS+) or (A.AXIS -) to select the axis to move by arch
F 7
[RIGHTY] 50/100% [MG][S0H0J]
= 150.50 64.53
= 96.65 -224.89
= -63432 19735
0 0
A.POS JUMP
(A.POS) key and set the arch motion position.
[RIGHTY] 50/100% [MG][S0H0J]
= 150.50 64.53
= 96.65 -224.89
= -63432 19735
0 0
20000
(AXIS←) or
F 14
key to move the robot by arch motion to the specified point position.
9. "AUTO" mode
21.78 -45.14
43.31 28.79
6243 22642
[LEFTY]
0 0
21.78 -45.14
43.31 28.79
6243 22642
[LEFTY]
0 0
VEL+ VEL-
21.78 -45.14
43.31 28.79
6243 22642
[LEFTY]
0 0
(AXIS→) key so that the
F 15
4
39
4-