Yamaha SRCP User Manual page 92

7-2 Teaching Playback
7
4
7-
6) Move the robot to the teaching position with
X
– X +
the or keys. Each time the
Z
Z
key is pressed, the robot moves a certain
X +
Z
amount in the direction indicated by the key
and then stops.
X
–
Holding down the or
Z
robot continuously at a constant speed until the
key is released.
The amount of robot movement and the speed
are proportional to the number (teaching move-
ment data) displayed on the upper right of the
screen.
In the example at the right, the teaching move-
ment data is 50 (%), so the robot moves 0.5mm
X X
each time the – or
Z
Z
calculated below:
1mm (constant) × (50/100) = 0.5mm
X
X +
If the – or key is kept pressed, the ro-
Z Z
bot continuously moves at a speed of 50mm/s,
as calculated below:
100mm/s (constant) × (50/100) = 50mm/s
7) Three different speed settings, SPEED (1),
SPEED (2), and SPEED (3), are selectable as
the teaching movement data. Each time
(SPD) is pressed, the setting changes in the or-
der of 1→2→3→1.
To change the teaching movement data setting,
press (S_SET), enter the desired speed
F3
with the number keys, and press
then returns to step 6 when the data has been
changed correctly.
8) Move the robot to the teaching position in this
way and press . The current position is in-
put as point data.
c
CAUTION
When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE
mode function".)
• Robot movement speed is limited to 10mm/s or less in "SERVICE mode state" when the robot movement
speed limit is enabled.
X or
–
Z
X
+
key moves the
Z
+
key is pressed, as
F2
. The screen
[EDIT-PNT-TCH](1) 50
P500 = 19.27 [mm]
[ 0.00]
1CHG 2SPD3S_SET4next
[EDIT-PNT-TCH](1) 50
SPEED(1) = _
(speed) 1→100
[EDIT-PNT-TCH](1)100
P500 = 167.24 [mm]
[ 167.24]
1CHG 2SPD3S_SET4next