Arch Motion Mode - Yamaha RCX141 User Manual

9. "AUTO" mode
4
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
robot starts to move. To avoid
danger, do not enter the robot
movement range.
38
4-
9.7.2

ARCH motion mode

1. When no auxiliary axis is specified:
[Procedure]
1) Press the
below, then press the
Fig. 4-9-18 Point trace screen in ARCH motion mode (with no auxiliary axis)
AUTO>POINT
————————————x———————y———————z———————r———
P3
P4
P5
COMNT :
[POS]
2) Press the
motion.
The selected axis is indicated on the message line as in "ARCH(z)".
Fig. 4-9-19 Point trace screen in ARCH motion mode (with no auxiliary axis)
AUTO>POINT
————————————x———————y——ARCH(z)——————r———
P3
P4
P5
COMNT :
[POS]
3) Press the
Fig. 4-9-20 Point trace screen in ARCH motion mode (with no auxiliary axis)
AUTO
————————————x———————y——ARCH(z)——————r———
P3
P4
P5
COMNT :
[POS]
4) Use the cursor (↑/↓) keys to select the point number to be checked.
5) Press the
key, the
The trace speed is one tenth of the automatic movement speed. If the SCARA robot is
START
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
F 1
(ARCH) key.
F 2
[RIGHTY] 50/100% [MG][S0H0J]
= 150.50 64.53
= 96.65 -224.89
= -63432 19735
0
PTP ARCH LINEAR
(A.AXIS+) or
F 6 F 7
[RIGHTY] 50/100% [MG][S0H0J]
= 150.50 64.53
= 96.65 -224.89
= -63432 19735
0
ARCH A.POS JUMD
(A.POS) key and set the arch motion position.
F 2
>POINT [RIGHTY]
= 150.50 64.53
= 96.65 -224.89
= -63432 19735
0
Enter ARCH data>
key to move the robot by arch motion to the specified point position.
START
21.78 -45.14
43.31 28.79
6243 22642
[LEFTY]
0 0 0
(A.AXIS -) to select the axis to move by arch
21.78 -45.14
43.31 28.79
6243 22642
[LEFTY]
0 0 0
VEL+ VEL–
50/100% [MG][S0H0J]
21.78 -45.14
43.31 28.79
6243 22642
[LEFTY]
0 0 0
20000
key.
STOP