Explanation Of Two-Robot Setting; Two-Robot Setting - Yamaha RCX142 User Manual

1. Explanation of two-robot setting

1.1

Two-robot setting

The two-robot setting refers to a configuration in which two robots are controlled by a
single controller. In the two-robot setting, the multi-task function can be used to operate
two robots in an asynchronous manner.
When the two-robot setting is specified, the robot axes are divided into the following
groups.
• Main group
• Sub group
The above groups comprise the following axes:
Main group (MG)
Sub group (SG)
Where no "main auxiliary axes" and "sub auxiliary axes" exist, the "main group = main
robot", and the "sub group = sub robot".
The main auxiliary axes and sub auxiliary axes can be operated only by the DRIVE
(DRIVE2) and DRIVEI (DRIVEI2) commands. The MOVE (MOVE2) and MOVEI
(MOVEI2) commands are invalid for these axes.
Moreover, the usable robot language varies for each group. For details, see "3.1 Robot
languages used in the two-robot setting".
Fig. 5-1-1 Axis configuration example (RCX142, SXYx 2 axis spec. × 2 robots)
Main robot axes
Main group (main robot)
Main robot (MR)
This is the name of the
robot specified as the "main
robot", and represents the
main robot axis group.
Sub robot (SR)
This is the name of the
robot specified as the "sub
robot", and represents the
sub robot axis group.
Sub group (sub robot)
Main robot axes (M?)
Main robot axes.
Main auxiliary axes (m?)
Individual axes of the main
group. These axes can be
moved only by DRIVE and
DRIVEI commands.
Sub robot axes (S?)
Sub robot axes.
Sub auxiliary axes (m?)
Individual axes of the sub
group. These axes can be
operated only by DRIVE2
and DRIVEI2 commands.
Sub robot axes
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