Yamaha SRCP manual EDIT-PNT-TCH1100 P500 = 167.24 mm 167.24 1CHG 2SPD3SSET4next

7-2 Teaching Playback

7

EDITING POINT DATA

6) Move the robot to the teaching position with

the	XZ – or XZ + keys. Each time the XZ – or
XZ +	key is pressed, the robot moves a certain

amount in the direction indicated by the key and then stops.

Holding down the	X	– or	X +	key moves the
	Z		Z

robot continuously at a constant speed until the key is released.

The amount of robot movement and the speed are proportional to the number (teaching move- ment data) displayed on the upper right of the screen.

In the example at the right, the teaching move- ment data is 50 (%), so the robot moves 0.5mm

each time the	XZ –	or XZ + key is pressed, as
calculated below:
1mm (constant) ⋅ (50/100) = 0.5mm
If the XZ – or	XZ +	key is kept pressed, the ro-

bot continuously moves at a speed of 50mm/s, as calculated below:

100mm/s (constant) ⋅ (50/100) = 50mm/s

7)Three different speed settings, SPEED (1), SPEED (2), and SPEED (3), are selectable as

the teaching movement data. Each time F2

(SPD) is pressed, the setting changes in the or- der of 1→2→3→1.

To change the teaching movement data setting,

press F3 (S_SET), enter the desired speed with the number keys, and press . The screen then returns to step 6 when the data has been changed correctly.

8)Move the robot to the teaching position in this

way and press . The current position is in- put as point data.

[EDIT-PNT-TCH](1) 50

P500 = 19.27 [mm]

[ 0.00] 1CHG 2SPD3S_SET4next

[EDIT-PNT-TCH](1) 50 SPEED(1) = _ (speed) 1→100

[EDIT-PNT-TCH](1)100 P500 = 167.24 [mm] [ 167.24] 1CHG 2SPD3S_SET4next

c CAUTION

When the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE mode function".)

•Robot movement speed is limited to 10mm/s or less in "SERVICE mode state" when the robot movement speed limit is enabled.

7-4