Yamaha RCX142 User Manual page 145

c
CAUTION
To perform teaching at a point on the
Cartesian coordinates (millimeter
units) with a SCARA robot, always
use the correct hand system that
should actually be moved.
The robot cannot be guaranteed to
move to the same position if moving
with a hand system different from that
used for teaching.
4) When the axis arrives at the target point, press the
Teaching is performed so that the current robot position data is allotted to the
currently selected point. The format for point data input by teaching is set to the
currently selected coordinate system. However, when teaching is performed on
different axes, they must use the same coordinates as the teach points. Therefore, if
the point data is in "mm" units, then the current position must also be in "mm"
units.
When point data is already allotted to the currently selected point, a confirmation
message "Overwrite point OK?" appears on the guideline when the
(TEACH) key is pressed.
Press the (YES) key to perform the teaching.
F 4
Press the (NO) key if you want to cancel the teaching,
F 5
Fig. 4-11-17 Point data teaching (with auxiliary axis [5])
MANUAL>POINT>TEACH
————————————x———————y———————z———————r———
P7 = 100.00
P8 = 220.00
P9 = 400.00
COMNT:
[POS] 212.43
Overwrite point OK?
After teaching, the specified point number moves to the next line automatically.
Fig. 4-11-18 Point data teaching (with auxiliary axis [6])
MANUAL>POINT
————————————x———————y———————z———————r———
P7 = 100.00
P8 = 212.43
P9 = 400.00
COMNT:
[POS] 212.43
EDIT TEACH
Fig. 4-11-19 Point data teaching (with auxiliary axis [7])
MANUAL>POINT
————————————x———————y———————z———————r———
P7 = 100.00
P8 = 212.43
P9 = 400.00
COMNT:
[POS] 212.43
EDIT TEACH
F 2
100%[MG][S0H0X]
250.00 15.00
150.00 115.00
200.00 15.00
[
152.31 100.26
YES
When teaching on all axes
100%[MG][S0H0X]
250.00 15.00
152.31 100.26
200.00 15.00
[
152.31 100.26
JUMP VEL+
When teaching on standard axes
100%[MG][S0H0X]
250.00 15.00
152.31 100.26
200.00 15.00
[
152.31 100.26
JUMP VEL+
11. "MANUAL" mode
(TEACH) key.
F 2
30.00
90.00
-30.00
]
86.86
NO
30.00
86.86
-30.00
]
86.86
VEL-
30.00
90.00
-30.00
]
86.86
VEL-
83
4-
4