Yamaha RCX142 User Manual page 176

11. "MANUAL" mode
n
NOTE
Enter all point data (x, y, z) (x, y). If
omitted, "0" will be automatically
entered for that axis.
4
c
CAUTION
If teach points and input points are
not accurately determined, calcula-
tion results will be inaccurate, so
always determine these points
correctly.
n
NOTE
The Z-direction shift value is automati-
cally obtained when teach point 1 is
determined, so the Z-axis data at teach
point 2 is ignored.
114
4-
4) Press the key to obtain the current position as "1st P".
An edit cursor appears at the head of the "1st P" line.
Fig. 4-11-64 Shift coordinate setting
MANUAL>SHIFT>METHOD2
————————————x———————y———————z———————r———
Enter the point data [mm]
1st P=_ 0.00
2nd P=
[POS] 13.00
5) Use the to
0 9
point data (x, y, z) and press the
6) Determine teach point 2 with the same procedure as for teach point 1.
7) When the teach point 2 has been entered, the shift coordinates (dX, dY, dZ and dR)
are automatically calculated and stored.
The screen then returns to "MANUAL>SHIFT" mode.
Valid keys and submenu descriptions in "MANUAL>SHIFT>METHOD2" mode are
shown below.
Valid keys Menu
Increases manual movement speed for the selected robot group in steps.
F4 VEL+
(1→5→20→50→100 %)
Decreases manual movement speed for the selected robot group in steps.
F5 VEL-
(100→50→20→5→1 %)
Switches between the current display units (mm or pulses).
F8 UNITCHG
Increases manual movement speed for the selected robot group in 1%
F9 VEL++
increments.
Decreases manual movement speed for the selected robot group in 1%
F10 VEL--
decrements.
50% [MG][S0H0X]
0.00 0.00
150.00 0.00
VEL+
, , , and
+ – .
key.
Function
0.00
VEL-
keys to enter the
SPACE