Hand Definition Setting Method 1 - Yamaha RCX240 User Manual

11.6.2

Hand definition setting method 1

By using this method, a hand attached to the 2nd arm can be set to the current hand definition.
n
NOTE
• Cartesian and SCARA robots use mutually different methods for making settings.
Cartesian robots
Hand definition data is set by teaching the identical points that are used for
hand working points and non-hand working points.
SCARA robots
Hand definition data is set by teaching the identical points that are used at
working points for right-handed and left-handed systems.
• When two robots (main and sub robots) are specified, check the currently
selected robot group on the RPB screen. "[MG]" indicates the main robot group
and "[SG]" the sub robot group. Switch the robot group with the
as needed.
In "MANUAL>HAND" mode, use the cursor (
1
the hand definition number.
Press (METHOD1)
2
"MANUAL>HAND>METHOD1" mode is entered.
Hand setting 1 (1)
Use the Jog keys to move the robot working point to point 1.
3
Position the robot at point 1 accurately.
w
WARNING
THE ROBOT STARTS TO MOVE WHEN A jOG kEY IS PRESSED. TO AVOID DANGER, DO
NOT ENTER THE ROBOT MOVEMENT RANGE.
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NOTE
To perform teaching at point 1 with a SCARA robot, always move in the right-hand
system.
To perform teaching at point 2 with a SCARA robot, always move in the left-handed
system.
11. "MANUAL" mode
(
/ ) keys to select
Chapter 4 OPERATION
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