Point Data Input By Teaching - Yamaha RCX240 User Manual

11. "MANUAL" mode
11.2.2

Point data input by teaching

1
In "MANUAL>POINT" mode, the current position of the robot can be obtained as point data by
teaching.
n
NOTE
Point data teaching cannot be performed when return-to-origin is incomplete.
Perform point teaching after performing absolute reset or return-to-origin.
2
n
NOTE
When two robots (main and sub robots) are specified, check the currently selected
robot group on the RPB before performing point teaching.
"[MG]" indicates the main robot group is selected, and "[SG]" indicates the sub
3
robot group is selected. To change the robot group, use
1. When no auxiliar y axis is used:
Select the point number to obtain point data with the cursor
1
4
(
5
6
7
Use the Jog keys to move the robot arm.
2
As the arm moves, the current position data on the 7th line on the screen changes.
w
WARNING
THE ROBOT STARTS TO MOVE WHEN A jOG kEY IS PRESSED. TO AVOID DANGER, DO
8
NOT ENTER THE ROBOT MOVEMENT RANGE.
When the arm arrives at the target point, press
3
Teaching is performed so that the current robot position data is allotted to the currently
selected point number.
9
After teaching, the pointer cursor moves down to the next line automatically.
The format for point data input by teaching is set to the currently selected coordinate
system.
c
CAUTION
To perform teaching at a point on the Cartesian coordinates (millimeter units) with a
10
SCARA robot, always use the correct hand system that should actually be moved.
The robot cannot be guaranteed to move to the same position if moving with a
hand system different from that used for teaching.
4-96
Chapter 4 OPERATION
/ ) keys.
Point data teaching (with no auxiliary axis [1])
When teaching at P8
( + ).
(TEACH).