Yamaha RCX141 User Manual page 95

n
NOTE
If the SCARA robot is selected and the
hand system flag is set for the point
data, then this hand system will have
priority over the current arm type.
w
WARNING
Upon pressing the
START
robot starts to move. To avoid
danger, do not enter the robot
movement range.
2. When auxiliary axis is specified:
[Procedure]
1) Press the
F 1
below, then press the
Fig. 4-9-15 Point trace screen in PTP motion mode (with auxiliary axis)
AUTO
————————————x———————y———————z———————r———
P3
P4
P5
COMNT :
[POS]
PTP
2) Use the cursor (↑/↓) keys and
point value of the robot axis to be checked is highlighted.
To perform trace for the robot main axes:
Fig. 4-9-16 Point trace screen in PTP motion mode (with auxiliary axis)
AUTO>POINT
————————————x———————y———————z———————r———
P3
P4
P5
COMNT :
[POS]
PTP
To perform trace for the auxiliary axis:
Fig. 4-9-17 Point trace screen in PTP motion mode (with auxiliary axis)
AUTO>POINT
————————————x———————y———————z———————r———
P3
P4
P5
COMNT :
[POS]
PTP
3) Press the
START
key, the The trace speed is one tenth of the automatic movement speed. If the SCARA robot is
selected and the hand system flag is set for the point data, then this hand system will
have priority. To stop the trace, press the
key in "AUTO>POINT" mode to display a screen like that shown
(PTP) key.
F 1
>POINT [RIGHTY] 50/100% [MG][S0H0J]
= 150.50 64.53
= 96.65 -224.89
= -63432 19735
0 0
ARCH LINEAR
(AXIS←) or
F 14
[RIGHTY] 50/100% [MG][S0H0J]
.
= 150.50 64.53
= 96.65 -224.89
= -63432 19735
0 0
JUMP
[RIGHTY] 50/100% [MG][S0H0J]
= 150.50 64.53
= 96.65 -224.89
= -63432 19735
0 0
JUMP
key, and the robot moves by PTP motion to the specified point position.
STOP
9. "AUTO" mode
21.78 -45.14
43.31 28.79
6243 22642
[LEFTY]
0 0
(AXIS→) key so that the
F 15
21.78 -45.14
43.31 28.79
6243 22642
[LEFTY]
0 0
VEL+ VEL-
21.78 -45.14
43.31 28.79
6243 22642
[LEFTY]
0 0
VEL+ VEL-
key.
4
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