Yamaha RCX141 User Manual page 133

1) When "X" is displayed (When not in "Tool coordinate" mode)
When a Jog key is pressed, the robot arm tip moves in the corresponding
direction on the Cartesian coordinates. If auxiliary axis setting is made, then the
robot moves only along the corresponding axis.
2) When "T" is displayed (When in "Tool coordinate" mode)
"Tool coordinate" mode can be used only when hand data for the R-axis of a
Cartesian robot or SCARA robot is selected (hand definition is made).
Pressing the or
#1+ #1-
Pressing the or
#2+ #2-
Pressing the or
#4+ #4-
When the other Jog keys are pressed, the robot moves the same way as when "X"
is displayed.
Fig. 4-11-7 Robot movement in "Tool coordinate" mode (example)
Y
100.00mm
If the above hand is defined, the robot moves with Jog keys as illustrated below.
Robot movement with
#1+
Y
#2+
#1-
Each time a Jog key is pressed, the robot moves a specified distance (inching
movement). When the Jog key is held down, the robot keeps moving. The robot stops
when the Jog key is released or either of the soft limit or shift coordinate range is
reached.
The robot stops when the Jog key is released or the soft limit is reached.
The movement distance (inching distance) is equal to the manual movement speed
setting (%) multiplied by 0.01mm or 0.01 deg.
[Example] When manual movement speed is 20%:
Inching distance in "mm" units = 0.20mm
11. "MANUAL" mode
key moves the hand forwards or backwards.
key moves the hand to the left or right.
key rotates the end of the hand around its center.
MANUAL>HAND
————————————1———————2———————3———————4———
H0 = 0.00
X
H1 = -90.00
H2 = 0
-90.00 degrees
H3 = 0
HAND 1
Robot movement with
to keys
#2-
Y
#1+
#2-
X
50% [MG][S0H1T]
150.00 0.00 R
100.00 0.00 R
0.00 0.00
0.00 0.00
and keys
#4-
#4+
#4-
#4+
X
75
4-
4