YASKAWA YASNAC XRC - Teaching User Coordinates

3.10 User Coordinates Setting
3-47
"
Teaching User Coordinates
*1
Select the robot for teaching user coordinates. (When the robot has already been
selected or there is only one robot, this operation should not be performed.) Select “**”
in the user coordinates setting display and select the robot in the displayed selection
dialog. The robot is registered.
*2
The selection dialog is displayed. Select the teaching point.
*3
Taught position is registered.
Repeat *2~*3 operation to teach ORG, XX and XY.
'
indicates that teaching is completed and
*
indicates that it is not completed.
Select the robot
*1
Select “SET POS”
*2
Move the manipulator using the axis key
Press [MODIFY] and [ENTER]
*3
Select “COMPLETE”
*4
Operation
Explanation
USER COORDINATE
USER COORD NO.: 03 TOOL :00
**:S * SET POS. :ORG
L * <STATUS>
U * :ORG
R * :XX
B * :XY
T *
!
DATA
EDIT DISPLAY UTILITY
CANCEL
COMPLETE
R1:ROBOT1
S1:STATION1
R1:ROBOT1
R1
S
C
L
USER COORDINATE
USER COORD NO.: 03 TOOL :00
R1:S * SET POS. :ORG
L * <STATUS>
U * :ORG
R * :XX
B * :XY
T *
!
DATA
EDIT DISPLAY UTILITY
CANCEL
COMPLETE
ORG
XX
XY
ORG
R1
S
C
L
USER COORDINATE
USER COORD NO.: 03 TOOL :00
R1:S 0 SET POS. :XY
L 10 <STATUS>
U 1000 :ORG
R 53 :XX
B 200 :XY
T 8
!
DATA
EDIT DISPLAY UTILITY
CANCEL
COMPLETE
R1
S
C
L