Restoring Hand Definitions; Hand Definition Setting Method 1 - Yamaha RCX141 User Manual

11. "MANUAL" mode
n
NOTE
• Cartesian and SCARA robots use
mutually different methods for
making settings.
Cartesian robots
Hand definition data is set by
teaching the identical points that
4
are used for hand working points
and non-hand working points.
SCARA robots
Hand definition data is set by
teaching the identical points that
are used at working points for
right-handed and left-handed
systems.
• When two robots (main and sub
robots) are specified, check the
currently selected robot group on
the MPB screen. "[MG]"
indicates the main robot group
and "[SG]" the sub robot group.
Switch the robot group with the
ROBOT key (
LOWER
needed.
w
WARNING
The robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
n
NOTE
To perform teaching at point 1 with a
SCARA robot, always move in the
right-hand system.
To perform teaching at point 2 with a
SCARA robot, always move in the left-
handed system.
122
4-

11.6.1.1 Restoring hand definitions

[Procedure]
1) During hand definition editing, pressing the
data input and restores the preceding data.
This function is enabled only on lines that are not yet complete.
11.6.2

Hand definition setting method 1

By using this method, a hand attached to the 2nd arm can be set to the current hand
definition.
[Procedure]
1) In "MANUAL>HAND" mode, use the cursor (↑/↓) key to select the hand definition
number.
2) Press the
mode.
Fig. 4-11-78 Hand setting 1 (1)
MANUAL>HAND>METHOD1
————————————1———————2———————3———————4———
1st P=
2nd P=
+ ) as
MODE
[POS]
3) Use the Jog keys to move the robot working point to point 1.
(Position it accurately.)
4) Press the
Fig. 4-11-79 Hand setting 1 (2)
MANUAL>HAND>METHOD1
————————————1———————2———————3———————4———
1st P= 214.45
2nd P=
[POS]
(METHOD1) key to enter "MANUAL>HAND> METHOD1"
F 6
Move arm to P[1] and press ENTER key
600.00 0.00
key to enter the teaching value.
Move arm to P[2] and press ENTER key
-15.01
214.45 -15.01
(UNDO) key reverses the last
F 1
50% [MG][S0H0X]
0.00 0.00
VEL+ VEL-
50% [MG][S0H0X]
20.32
20.32 0.00
VEL+ VEL-