Yamaha RCX142 User Manual page 311

n
NOTE
• For details concerning Point data
input by direct teaching, also see
"11.2.2 Point data input by
teaching" in Chapter 4.
• Point data teaching cannot be
performed when return-to-origin
is incomplete. Perform point
teaching after performing absolute
reset.
w
WARNING
The robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
2. Operations and data when using the two-robot setting
2.2.3.1 Point data input by teaching
Point data input by direct teaching consists of registering the currently selected group's
coordinate values as point data.
Before executing this function, be sure to verify the currently selected group. The selected
group can be changed by the procedure described below.
This explanation assumes that no auxiliary axes are set. If auxiliary axes exist, the selected
group can be changed in the same manner as that given below. For details regarding the
teaching procedure after the selected group has been changed, see "11.2.2 "Point data
input by teaching" in Chapter 4.
[Procedure]
When no auxiliary axes are set:
1) Select the "MANUAL>POINT" mode.
2) Press the ( +
LOWER MODE
group is displayed). An "[MG]" display indicates the main group, and "[SG]"
indicates the sub group.
Fig. 5-2-14 Point data teaching screen (two-robot setting: Main group selected)
Subject group display
MG (Main group is selected)
MANUAL>POINT
————————————x————————y————————z————————r———
P7 = 100.00
P8 =
P9 = 122.62
COMNT:
[POS] 10.00
EDIT TEACH
Current position of main group
Fig. 5-2-15 Point trace screen (two-robot setting: Sub group selected)
Subject group display
SG (Sub group is selected)
MANUAL>POINT
————————————x————————y————————z————————r———
P7 = 100.00
P8 =
P9 = 122.62
COMNT:
[POS] 10.00
EDIT TEACH
Current position of sub group
3) Use the cursor up/down (↑/↓) keys to move the cursor to the point number where an
input is desired.
4) Use the Jog key to move the robot arm.
) robot keys to toggle between the groups (the selected
50 / 50% [MG][S0H0X]
250.00 0.00
24.54 0.00
[
100.00 0.00
JUMP VEL+
50 / 50% [SG][S0H4X]
250.00 0.00
24.54 0.00
[
100.00 0.00
JUMP VEL+
0.00
0.00
]
0.00
VEL-
0.00
0.00
]
0.00
VEL-
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