Setting The Standard Coordinates By Simple Teaching - Yamaha RCX142 User Manual

n
NOTE
Position the XY arms as accurately as
possible, so that they are exactly set in
a straight line including the rotation
center of the R-axis.
11.9.3

Setting the standard coordinates by simple teaching

Fig. 4-11-112
+Y direction
[Procedure]
1) In "MANUAL>COODI" mode, press the
simple standard coordinate setting.
Fig. 4-11-113
MANUAL >COORDI>SIMPLE
————————————x———————y———————z———————r———
Please Move X & Y arms straight
before press Enter key.
X Arm
0=======0======[ —> +X
[POS] 24349
2) Use the Jog keys or your hands (if the servo is off) to move the robot arm so that the
X and Y arms are set in a straight line, then press the
At this point, the +X direction is set as shown in Fig. 4-11-112.
3) Enter the X arm length and press the
Fig. 4-11-114
MANUAL >COORDI>SIMPLE
————————————x———————y———————z———————r———
Enter the length of X Arm [mm]
[1-1000] Enter >225.00_
11. "MANUAL" mode
(SIMPLE) key to enter the mode for
F 5
50% [MG][
Y Arm
-1029 0
VEL+
key.
50% [MG][
+X direction
J]
0
VEL-
key.
J]
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4-
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