Yamaha RCX142 User Manual page 200

11. "MANUAL" mode
4
c
CAUTION
When two robots (main and sub
robots) are specified, check the
currently selected robot group on the
MPB. To switch the robot group, use
the ROBOT key (
LOWER
n
NOTE
• Approximate standard coordinate
settings are made prior to
shipment.
• The number of offset pulses equals
the number of pulses used by the
X, Y and R axes when they moved
towards the X-axis on the standard
coordinates.
138
4-
Fig. 4-11-100
+ ).
MODE
Press the
F 15
This mode allows setting the standard coordinates.
Fig. 4-11-101
MANUAL>COORDI
————————————x———————y———————z———————r———
Valid keys and submenu descriptions in "MANUAL" mode are as shown below.
Valid keys
4POINTS
F1
3POINTS
F2
SIMPLE
F5
X-axis offset pulse
X
X-axis arm length
Y-axis arm length
R-axis offset pulse
(COORDI) key in "MANUAL" mode.
How many points method are used?
F1:4 points teach method
F2:3 points teach method
F5:Simple method
4POINTS 3POINTS
Menu
F1 Sets standard coordinates by 4-point teaching.
F2 Sets standard coordinates by 3-point teaching.
F5 Sets standard coordinates by simple teaching.
Y
Y-axis offset pulse
50% [MG][ J]
SIMPLE
Function