Shift Coordinates Setting Method 2 - Yamaha RCX142 User Manual

2. Operations and data when using the two-robot setting
n
NOTE
For "Shift coordinates setting method
1" details, also see "11.5.4 Shift
coordinate setting method 2" in
Chapter 4.
5
w
WARNING
The robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
n
NOTE
Perform teaching carefully to obtain
accurate teach points. Precise shift
coordinates cannot be set if the teach
point is inaccurate.
16
5-
2.2.6.2

Shift coordinates setting method 2

The "Shift coordinates setting method 2" function allows shift coordinate data to be set by
teaching 2 points, and then entering that 2-point shift coordinate value.
Point teaching occurs for the currently selected group, and shift coordinate data is created
based on that point data.
[Procedure]
1) In the MANUAL>SHIFT mode, use the cursor up/down (↑/↓) keys to select the
shift coordinate number.
2) Press the ( +
LOWER MODE
group is displayed). An "[MG]" display indicates the main group, and "[SG]"
indicates the sub group.
Fig. 5-2-25 Shift coordinates setting method (Two-robot setting: Main group selected)
Subject group display
MG (Main group is selected)
MANUAL >SHIFT
—————————————x————————y————————z————————r———
S0 = 0.00
S1 = 0.00
S2 = 0.00
S3 = 0.00
[POS] 0.00
EDIT RANGE
Fig. 5-2-26 Shift coordinates setting method (Two-robot setting: Sub group selected)
Subject group display
SG (Sub group is selected)
MANUAL >SHIFT
—————————————x————————y————————z————————r———
S0 = 0.00
S1 = 0.00
S2 = 0.00
S3 = 0.00
[POS] 0.00
EDIT RANGE
3) Press the (METHOD2) key, use the Jog key to determine teaching point 1,
F 7
then select the shift coordinate value of that point.
4) Determine teaching point 2 in the same manner in order to register the Shift
coordinates.
) robot keys to toggle between the groups (the selected
50/ 50% [MG] [S0H0X]
0.00 0.00
0.00 0.00
0.00 0.00
0.00 0.00
0.00 0.00
VEL+
50/ 50% [SG] [S0H4X]
0.00 0.00
0.00 0.00
0.00 0.00
0.00 0.00
0.00 0.00
VEL+
0.00
0.00
0.00
0.00
0.00
VEL-
0.00
0.00
0.00
0.00
0.00
VEL-