YASKAWA Motoman UP6 Instructions Manual page 183

Number Input of the Side of Cube and Teaching Center
Operation
*1
Select "METHOD"
*3
Press [MODIFY]
Explanation
*1
Each time [SELECT] is pressed, "MAX/MIN" and "CENTER POS" alternate.
Select "CENTER POS".
*2
The length is set.
*3
The message "Move to center point and teach" is displayed.
The cursor moves to only either "<MIN>" or "<MAX>" at this time. The cursor moves
freely when this operation is canceled by pressing [CANCEL].
*4
Move the manipulator to the center point of the cube using the axis keys.
*5
The current position is registered as the center point of the cube.
Input data for length of the cube and press [ENTER]
Move the manipulator using the axis keys
D A T A
E D I T
I N T E R F E R E N C E A R E A
I N T E R F E R E N C E S I G : 1
M E T H O D
C O N T R O L G R O U P
C H E C K M E A S U R E
R E F C O O R D I N A T E
T E A C H I N G M E T H O D :
< MAX >
X 0.000
Y 0.000
!
D A T A E D I T
I N T E R F E R E N C E A R E A
I N T E R F E R E N C E S I G : 1
M E T H O D
C O N T R O L G R O U P
C H E C K M E A S U R E
R E F C O O R D I N A T E
T E A C H I N G M E T H O D : C E N T E R P O S
< MAX >
X 0.000
Y 0.000
!
D A T A E D I T
I N T E R F E R E N C E A R E A
I N T E R F E R E N C E S I G : 1
M E T H O D
C O N T R O L G R O U P
C H E C K M E A S U R E
R E F C O O R D I N A T E
T E A C H I N G M E T H O D :C E N T E R P O S
< MAX >
X 0.000
Y 0.000
!Move to center point and teach
D I S P L A Y UTILITY
L
R1 C S
: C U B I C I N T E R F E R E N C E
: R1
: C O M M A N D P O S I T I O N
: BASE
C E N T E R P O S
< MIN > <LENGTH>
0.000 0.000
0.000 0.000
D I S P L A Y U T I L I T Y
L
R1 C S
: C U B I C I N T E R F E R E N C E
: R1
: C O M M A N D P O S I T I O N
: BASE
< MIN > <LENGTH>
0.000 0.000
0.000 50.000
D I S P L A Y U T I L I T Y
L
R1 C S
:C U B I C I N T E R F E R E N C E
:R1
: C O M M A N D P O S I T I O N
: B A S E
< MIN > <LENGTH>
0.000 0.000
0.000 50.000
3-25
3.7 Interference Area
*2
*4
Press [Enter]
*5