Point Setting In Pallet Definition - Yamaha RCX141 User Manual

11. "MANUAL" mode
n
NOTE
• Each pallet is generated with 5
points for pallet definition.
• These 5 points should be defined
in order from P[1] to P[5]. See
"11.3 Displaying, editing and
setting pallet definitions".
4
98
4-

11.3.1.1 Point setting in pallet definition

In "MANUAL>PALLET>EDIT" mode, a screen like that shown below is displayed.
Fig. 4-11-41
MANUAL>PALLET>EDIT
POINT=P3996(P[1])-P4000(P[5])
P[1] = 98.87
P[2] = 122.62
P[3] = 98.62
[POS] 0.00
EDIT TEACH
The 3rd line shows the point numbers and point data in the pallet definition.
Valid keys and submenu descriptions in this mode are shown below.
Valid keys Menu
Cursor key
Specifies the point data or scrolls the screen.
(↑/↓)
F1 EDIT Edits the point in pallet definition.
F2 TEACH Sets the point in pallet definition by teaching.
Increases manual movement speed for the selected robot group in steps.
F4 VEL+
(1→5→20→50→100 %)
Decreases manual movement speed for the selected robot group in steps.
F5 VEL-
(100→50→20→5→1 %)
F8 UNITCHG Switches the current position display units.
Increases manual movement speed for the selected robot group in 1%
F9 VEL++
increments.
Decreases manual movement speed for the selected robot group in 1%
F10 VEL--
decrements.
ROBOT
Switches the robot group.
(
LOWER
+ )
MODE
50%[MG][S0H0X]
-24.54 12.35
-24.54 12.35
-94.54 12.35
0.00 0.00
VEL+
Function
-23.11
-23.11
-23.11
0.00
VEL-