Yamaha RCX240 User Manual page 177

Use the Jog keys to move the robot axis for teaching.
3
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
NOT ENTER THE ROBOT MOVEMENT RANGE.
When the axis arrives at the target point, press
4
Teaching is performed so that the current robot position data is allotted to the currently
selected point. The format for point data input by teaching is set to the currently
selected coordinate system. However, when teaching is performed on different axes,
they must use the same coordinates as the teach points. Therefore, if the point data is
in "mm" units, then the current position must also be in "mm" units.
When point data is already allotted to the currently selected point, a confirmation
message "Overwrite point OK?" appears on the guideline when
Press (YES) to perform the teaching.
Press (NO) if you want to cancel the teaching,
c
CAUTION
To perform teaching at a point on the Cartesian coordinates (millimeter units) with a
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.
Point data teaching (with auxiliary axis [5])
After teaching, the specified point number moves to the next line automatically.
11. "MANUAL" mode
(TEACH).
(TEACH) is pressed.
Chapter 4 OPERATION
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