Yamaha RCX240 User Manual page 211

Use the Jog keys to move the robot arm tip to teach point 1.
3
Position the robot arm tip accurately.
w
WARNING
THE ROBOT STARTS TO MOVE WHEN A jOG kEY IS PRESSED. TO AVOID DANGER, DO
NOT ENTER THE ROBOT MOVEMENT RANGE.
n
NOTE
Perform teaching carefully to obtain accurate teach points. Precise shift
coordinates cannot be set if the teach point is inaccurate.
Press
4
The current position is then obtained as "1st P". (This value becomes the shift coordinate
origin.)
Shift coordinate teaching
Determine teach point 2 with the same procedure as for teach point 1.
5
Select the coordinate direction of teach point 1 towards point 2.
6
Press (+X),
Coordinate direction setting
.
(-X), (+Y), or
11. "MANUAL" mode
(-Y) to select the direction.
Chapter 4 OPERATION
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