Yamaha DRCX User Manual page 121

7-2 Teaching Playback
7
4
7-
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6) Move the robot to the teaching position. Each
time the X or key is pressed, the robot
– X
+
Z
Z
moves a certain amount in X-axis direction and
then stops.
X
Holding down the – or
Z
robot continuously in the X-axis direction at a
constant speed until the key is released.
To move the robot in the Y-axis direction, press
or Y .
Y +
–
R R
The amount of robot movement and the speed
are proportional to the number (teaching move-
ment data) displayed on the upper right of the
screen.
In the example at the right, the teaching move-
ment data is 50 (%), so the robot moves 0.5mm
X
each time the X or
–
Z
Z
calculated below:
1mm (constant) × (50/100) = 0.5mm
X
X +
If the – or key is kept pressed, the ro-
Z Z
bot continuously moves at a speed of 50mm/s,
as calculated below:
100mm/s (constant) × (50/100) = 50mm/s
7) Three different speed settings, SPEED (1),
SPEED (2), and SPEED (3), are selectable as
the teaching movement data. After pressing
(next), each time
F1
F4
the settings change in the order of 1→2→3→1.
To change the teaching movement data setting,
press (next) and then press
F4
Then enter the desired speed with the number
keys and press .
The screen returns to step 6 when the speed
parameter has been changed correctly.
8) Move the robot to the teaching position in this
way and press the key. The current position
is input as point data.
When registering again the point which is al-
ready registered, the axis selection screen ap-
pears.
To register both X and Y axes, press
To register the X-axis only, press
register the Y-axis only, press
9) The screen will return to step 6, and the current
position will be input as the point data.
c
CAUTION
When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE
mode function".)
• Robot movement speed is limited to 10mm/s or less (10 deg/s for rotary robot) in "SERVICE mode state"
when the robot movement speed limit is enabled.
X
+ key moves the
Z
+ key is pressed, as
(SPD) is pressed,
(S_SET).
F2
(XY).
F1
F2 (X). To
(Y).
F3
[EDIT-PNT-TCH](1) 50
P0 X=0.00 [mm]
[ 0.00, 0.00]
1CHG 2DO 3Y 4next
[EDIT-PNT-TCH](1) 50
SPEED(1) = _
(speed) 1→100
[EDIT-PNT-TCH](1) 100
P500 X=19.27 [mm]
[ 167.24, -51.58]
1XY 2X 3Y
[EDIT-PNT-TCH](1) 100
P500 X=167.24 [mm]
[ 167.24, -51.58]
1CHG 2DO 3Y 4next