Displaying, Editing And Setting Pallet Definitions - Yamaha RCX240 User Manual

11.3 Displaying, editing and setting pallet definitions

Press (PALLET) in "MANUAL" mode to enter "MANUAL>PALLET" mode.
This mode allows you to display, edit and set pallet definitions.
This mode allows you to display, edit and set pallet definitions. However, the standard coordinates
must be set when a SCARA robot is used. Refer to "11.10 Setting the standard coordinates" for
details.
A total of 20 pallets (definition numbers 0 to 19) can be defined to assign a point data area to each
pallet. Each pallet is generated (outlined) by using 5 points (P[1] to P[5] as shown below). The
maximum number of points that can be defined in one pallet is 32767 (=NX*NY*NZ).
n
NOTE
• A total of 20 pallets can be defined.
• The maximum number of points that can be defined in one pallet is 32767.
• Data in the point data area is used for pallet definition.
n
NOTE
When two robots (main and sub robots) are specified, pallet definitions can be
shared between them.
Pallet definition (1)
NZ
Pallet number
PL0
PL1
PL2
PL3
PL4
PL5
PL6
PL7
PL8
PL9
P[5]
P[3]
NY
P[1]
NX
Point number used
P3996 to P4000
P3991 to P3995
P3986 to P3990
P3981 to P3985
P3976 to P3980
P3971 to P3975
P3966 to P3970
P3961 to P3965
P3956 to P3960
P3951 to P3955
P[2]
Pallet number Point number used
PL10 P3946 to P3950
PL11 P3941 to P3945
PL12 P3936 to P3940
PL13 P3931 to P3935
PL14 P3926 to P3930
PL15 P3921 to P3925
PL16 P3916 to P3920
PL17 P3911 to P3915
PL18 P3906 to P3910
PL19 P3901 to P3905
Chapter 4 OPERATION
11. "MANUAL" mode
P[4]
4-113
1
2
3
4
5
6
7
8
9
10