Teaching User Coordinates - YASKAWA Motoman UP6 Instructions Manual

"

Teaching User Coordinates

Operation
*1
Select the robot
Press [MODIFY] and [ENTER]
Explanation
*1
Select the robot for teaching user coordinates. (When the robot has already been
selected or there is only one robot, this operation should not be performed.) Select "**"
in the user coordinates setting display and select the robot in the displayed selection
dialog. The robot is registered.
*2
The selection dialog is displayed. Select the teaching point.
*3
Taught position is registered.
Repeat *2~*3 operation to teach ORG, XX and XY.
' indicates that teaching is completed and * indicates that it is not completed.
*2
Select "SET POS"
*3
Select "COMPLETE"
D A T A EDIT
U S E R C O O R D I N A T E
USER COORD NO.: 03
**:S
L
R 1 : R O B O T 1
R 1 : R O B O T 1
U
S1:STATION1
R
B
T
!
D A T A
EDIT
U S E R C O O R D I N A T E
USER COORD NO.: 03
R1:S
O R G
L
O R G
U
XX
R
XY
B
T
!
D A T A EDIT
U S E R C O O R D I N A T E
USER COORD NO.: 03
R1:S
L
U 1000
R 53
B 200
T
!
3-47
3.10 User Coordinates Setting
Move the manipulator using the axis key
*4
DISPLAY UTILITY
L
R1 C
S
TOOL :00
* SET POS. :O R G
* <STATUS>
* :ORG
* :XX
* :XY
*
C O M P L E T E
C A N C E L
DISPLAY UTILITY
L
R1
C S
TOOL :00
* SET POS. :O R G
* <STATUS>
* :ORG
* :XX
* :XY
*
C O M P L E T E C A N C E L
DISPLAY UTILITY
L
R1
C S
TOOL :00
0 SET POS. :XY
10 <STATUS>
:ORG
:XX
:XY
8
C O M P L E T E
C A N C E L