Yamaha RCX141 User Manual page 192

11. "MANUAL" mode
n
NOTE
Standard coordinates are calculated
based on the teach points and input
point data, so perform teaching and
point data input as accurately as
possible.
4
134
4-
2) Use the Jog keys to move the robot arm tip to teach point P[1] and press the
3) Perform teaching at point P[2] as in step 2).
4) Enter the position of teach point P[2] in millimeters, relative to P[1] set as the origin.
Fig. 4-11-92
MANUAL>COORDI>4POINTS
————————————x———————y———————z———————r———
Move arm to P[2] and press ENTER key
P[2]= 100.00
P[3]=
P[4]=
[POS]
5) Repeat step 3), 4) to set teach points P[3] and P[4].
6) A message for checking the length and offset pulse value appears on the guideline.
(If the calculation failed, an error message appears.)
Press the (YES) key to store the setting.
F 4
Press the (NO) key if you want to cancel the setting.
F 5
Fig. 4-11-93
MANUAL>COORDI>4POINTS
————————————x———————y———————z———————r———
Arm length[mm]
M1= 199.96
Offset pulse
M1= -12421
Set OK?
50% [MG][
0.00_
0 0 0
VEL+
50% [MG][
M2= 199.98
M2= 2001
YES
key.
J]
0
VEL-
J]
NO