Yamaha RCX221 User Manual page 191

n
NOTE
Perform teaching carefully to obtain accurate teach points. Precise shift
coordinates cannot be set if the teach point is inaccurate.
4) Press , and the current position is then obtained as "1st P".
(This value becomes the shift coordinate origin.)
■ Shift coordinate teaching
MANUAL>SHIFT>METHOD1
————————————x———————y———————z———————r———
Move arm to P[2] and press ENTER key
1st P= 214.45
2nd P=
[POS] 214.45
5) Determine teach point 2 with the same procedure as for teach point 1.
6) Select the plus/minus direction of teach point 1 towards point 2 by using
(-X),
■ Coordinate direction setting
MANUAL>SHIFT>METHOD1
————————————x———————y———————z———————r———
Press F.key to get Direction
+——————————+———> +X
1st P.
+X
+X -X
7) When the coordinate direction is selected, the shift coordinate values (dX, dY, dZ, dR)
are automatically calculated and stored.
The screen then returns to "MANUAL>SHIFT" mode.
50% [MG][S0H0X]
-15.01 0.00
-15.01 0.00
VEL+
(+Y) or (-Y).
50% [MG][S0H0X]
2nd P.
+Y -Y
11. "MANUAL" mode
0.00
VEL-
Chapter
4
(+X),
4-123