Displaying, Editing And Setting Pallet Definitions - Yamaha RCX40 User Manual

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
definitions cannot be used with MULTI
type robots.

11.3 Displaying, editing and setting pallet definitions

Press the (PALLET) key in "MANUAL" mode to enter "MANUAL>PALLET"
F 2
mode.
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 "11.9 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).
Fig. 4-11-34
P[5]
NZ
NY
P[1]
Pallet number
PL0
PL1
PL2
PL3
PL4
PL5
PL6
PL7
PL8
PL9
Fig. 4-11-35
MANUAL >PALLET
PL0 =SET
PL1 =
PL2 =SET
PL3 =
[POS] 400.00
EDIT METHOD
Pallet definition numbers marked "SET" mean that they have already been defined.
P[3]
P[2]
NX
Point number used Pallet number
PL10
P3996 to P4000
P3991 to P3995 PL11
P3986 to P3990 PL12
P3981 to P3985 PL13
P3976 to P3980 PL14
PL15
P3971 to P3975
P3966 to P3970 PL16
P3961 to P3965 PL17
PL18
P3956 to P3960
P3951 to P3955 PL19
50%[MG][S0H0X]
0.00 0.00
VEL+
11. "MANUAL" mode
P[4]
Point number used
P3946 to P3950
P3941 to P3945
P3936 to P3940
P3931 to P3935
P3926 to P3930
P3921 to P3925
P3916 to P3920
P3911 to P3915
P3906 to P3910
P3901 to P3905
0.00
VEL-
93
4-
4