Setting The Standard Coordinates By 4-Point Teaching - Yamaha RCX141 User Manual

n
NOTE
• Separate the teach points from
each other as much as possible.
• Setting might be impossible if one
side is less than 50mm.
11.9.1

Setting the standard coordinates by 4-point teaching

Fig. 4-11-90
P [ 3 ]
P [ 1 ]
Precondition: Coordinate values made for P[2], P[3], P[4] must be accurate when P[1] is
set as the origin position.
[Procedure]
1) In "MANUAL>COORDI" mode, press the
for setting standard coordinates by 4-point teaching.
Fig. 4-11-91
MANUAL>COORDI>4POINTS
————————————x———————y———————z———————r———
Move arm to P[1] and press ENTER key
P[2]=
P[3]=
P[4]=
[POS]
11. "MANUAL" mode
P [ 4 ]
P [ 2 ]
4-point teaching
(4POINTS) key to enter the mode
F 1
50% [MG][
0 0 0
VEL+
4
J]
0
VEL-
133
4-