Axis Definition For The Rcx240 - Yamaha RCX240 User Manual

1.2

Axis definition for the RCX240

Axis definitions for the YAMAHA RCX240 robot controller are shown below.
Robot controller (RC)
Robot controller
Main group
Main robot
Main robot axes
Main auxiliary axes
Sub group
Sub robot
Sub robot axes
Sub auxiliary axes
Only the main robot axes are usually specified. Auxiliary axes and sub group settings are for
options made at the time of shipment.
Main group (MG) Main robot (MR)
Subgroup (SG) Sub robot (SR)
Indicates the entire robot controller and controls a maximum of 4
axes.
The letters "RC" are displayed on the RPB.
Indicates the main robot and main auxiliary axes and has a
maximum of 4 axes.
The letters "MG" are displayed on the RPB.
Indicates the robot name specified as a main robot, and includes all
axes of the main robot.
The letters "MR" are displayed on the RPB.
Indicate the axes composing the main robot.
These can be moved with the robot language MOVE command.
The letters "M?" are displayed on the RPB. (?=1 to 4)
Are the single axes composing the main group.
These cannot be moved with the robot language MOVE command.
Use the DRIVE command to move these axes.
The letters "m?" are displayed on the RPB. (?=1 to 4)
Indicates the sub robot and sub auxiliary axes, and has a maximum
of 2 axes.
The letters "SG" are displayed on the RPB.
Indicates the robot name specified as a sub robot, and includes all
axes of the sub robot.
The letters "SR" are displayed on the RPB.
Indicate the axes composing the sub robot.
These can be moved with the robot language MOVE2 command.
The letters "S?" are displayed on the RPB. (?=1 to 2)
Are the single axes composing the sub group.
These cannot be moved with the robot language MOVE2 command.
Use the DRIVE2 command to move these axes.
The letters "s?" are displayed on the RPB. (?=1 to 2)
1. System over view
Main robot axis (M?)
Main robot auxiliary axis (m?)
Sub robot axis (S?)
Sub robot auxiliary axis (s?)
Chapter 2 SYSTEM OVERVIEW
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