Yamaha RCX142 User Manual page 178

11. "MANUAL" mode
4
116
4-
Fig. 4-11-66 Hand definition screen (two-robot setting [1])
Main robot group is selected:
MANUAL>HAND
————————————1———————2———————3———————4———
H0 =
H1 = 0.00
H2 = 90.00
H3 = 8000
[POS] 600.00
EDIT
Fig. 4-11-67 Hand definition screen (two-robot setting [2])
Sub robot group is selected:
MANUAL>HAND
————————————1———————2———————3———————4———
H4 =
H5 = 0.00
H6 = 90.00
H7 = 8000
[POS] 600.00
EDIT
Valid keys and submenu descriptions in "MANUAL>HAND" mode are shown below.
Valid keys Menu
Cursor key
Specifies the hand definition number.
(↑/↓)
F1 EDIT
Edits the hand definition.
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 %)
F6 METHOD1 Makes setting 1 for hand coordinates.
F8 UNITCHG Switches between the current display units (mm or pulses).
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.
ROBOT
(
Switches the robot group.
LOWER
+ )
MODE
50/50% [MG][S0H1X]
0 0.00 0.00
100.00 0.00
100.00 100.00
100.00 100.00
0.00 0.00
VEL+
50/50% [SG][S3H5X]
0 0.00 0.00
100.00 0.00
100.00 100.00
100.00 100.00
0.00 0.00
VEL+
Function
R
R
0.00
VEL-
R
R
0.00
VEL-