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YASKAWA Motoman UP6 - Page 182

YASKAWA Motoman UP6
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3.7 Interference Area
3-24
Teaching Corner
*1
Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” alternate.
Select “MAX/MIN”.
*2
The message “Teach max./min. position” is displayed.
*3
Move cursor to “<MAX>” for changing maximum value and move cursor to “<MIN>” for
changing minimum value. The cursor moves to only either “<MIN>” or “<MAX>” at this
time. The cursor moves freely when this operation is canceled by pressing [CANCEL].
*4
Move the manipulator to the maximum or minimum position of the cube using the axis
keys.
*5
The cubic interference area is registered.
Select “METHOD”
*1
Press [MODIFY]
*2
Move the cursor to “<MAX>” or
“<MIN>”
*3
Move the manipulator using the axis keys
*4
Press [ENTER
*5
Operation
Explanation
INTERFERENCE AREA
INTERFERENCE SIG : 1
METHOD : CUBIC INTERFERENCE
CONTROL GROUP : R1
CHECK MEASURE : COMMAND POSITION
REF COORDINATE : BASE
TEACHING METHOD : MAX/MIN
< MAX > < MIN >
X 0.000 0.000
Y 0.000 0.000
!Teach max./min. position
DATA
EDIT DISPLAY UTILITY
R1
S
C
L
INTERFERENCE AREA
INTERFERENCE SIG : 1
METHOD : CUBIC INTERFERENCE
CONTROL GROUP : R1
CHECK MEASURE : COMMAND POSITION
REF COORDINATE : BASE
TEACHING METHOD : MAX/MIN
< MAX > < MIN >
X 100.000 0.000
Y 50.000 0.000
!
DATA
EDIT DISPLAY UTILITY
R1
S
C
L

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