Linear Interpolation Motion Mode - Yamaha RCX142 User Manual

9. "AUTO" mode
4
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 priority over the current
arm type.
• Linear interpolation motion at the
sub robot is not supported in
controller versions prior to Ver. 8.64.
w
WARNING
Upon pressing the
robot starts to move. To avoid
danger, do not enter the robot
movement range.
40
4-
9.7.3

Linear interpolation motion mode

1. When no auxiliary axis is specified:
[Procedure]
1) Press the
below, then press the
Fig. 4-9-24 Point trace screen in linear interpolation motion mode (with no auxiliary axis)
AUTO
————————————x———————y———————z———————r———
P3
P4
P5
COMNT :
[POS]
2) Use the cursor (↑/↓) keys to select the point number to be checked.
Fig. 4-9-25 Point trace screen in linear interpolation motion mode (with no auxiliary axis)
AUTO
————————————x———————y———————z———————r———
P3
P4
P5
COMNT :
[POS]
3) Press the
key, the
START
point position. The trace speed is one tenth of the automatic 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 in "AUTO>POINT" mode to display a screen like that shown
F 1
(LINEAR) key.
F 3
>POINT [RIGHTY]
= 150.50 64.53
= 96.65 -224.89
= -63432 19735
0
PTP ARCH LINEAR
>POINT [RIGHTY]
= 150.50 64.53
= 96.65 -224.89
= -63432 19735
0
LINEAR JUMP
key to move the robot by linear interpolation motion to the specified
START
50/100% [MG][S0H0J]
21.78 -45.14
43.31 28.79
6243 22642
[LEFTY]
0 0 0
50/100% [MG][S0H0J]
21.78 -45.14
43.31 28.79
6243 22642
[LEFTY]
0 0 0
VEL+ VEL-
key.
STOP