Yamaha RCX240 User Manual page 253

In "MANUAL>COORDI" mode, press
1
The 4-point teaching mode is entered for setting standard coordinates.
Setting the standard coordinates by 4-point teaching (2)
Determine teach point P[1].
2
Use the Jog keys to move the robot arm tip to teach point P[1] and press
n
NOTE
Standard coordinates are calculated based on the teach points and input point
data, so perform teaching and point data input as accurately as possible.
Determine teach point P[2].
3
Use the same procedure as in step 2.
Enter the position of teach point P[2] in millimeters, relative to P[1] set
4
as the origin.
Setting the standard coordinates by 4-point teaching (3)
Determine teach points P[3] and P[4].
5
Use the same procedure as in steps 3 and 4.
11. "MANUAL" mode
(4POINTS).
Chapter 4 OPERATION
1
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4
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