Pallet Definition By Teaching - Yamaha RCX240 User Manual

2. Operations and data when using the two-robot setting
2.2.4.2

Pallet definition by teaching

1
The "Pallet definition by teaching" function allows the pallet definition data to be specified by
teaching 4 points (5 points for 3D pallets), and then specifying that pallet's number of rows/
columns (rows/columns/levels for 3D pallets).
Point teaching is performed for the currently selected group, and the pallet data definition data is
set based on that point data.
2
n
NOTE
• For details concerning inputs by pallet definition setting, also see "11.3.2 Pallet
• When return-to-origin is incomplete, the points in pallet definition setting cannot
3
In "MANUAL>PALLET" mode, use the cursor up/down (
1
4
to select the desired pallet number.
Check the selected robot group.
2
An "[MG]" display indicates the main group, and "[SG]" indicates the sub group.
5
Press
toggled each time the key is pressed.
6
7
8
9
10
5-16
Chapter 5 TWO-ROBOT SETTING
definition by teaching" in Chapter 4.
be input by teaching. Perform point teaching after performing return-to-origin or
absolute reset.
( + ) to change the robot group. The selected group display is
Pallet definition setting (Two-robot setting: Main group selected)
Subject group display
Pallet definition setting (Two-robot setting: Sub group selected)
Subject group display
MG (Main group is selected)
SG (Sub group is selected)
/ ) keys