Double-Carrier Setting; Before Using A Double-Carrier - Yamaha RCX142 User Manual

12. "SYSTEM" mode
n
NOTE
The anti-collision function for double
carriers is supported by controllers of
Ver. 8.58 onwards.
c
CAUTION
The anti-collision function does not
work if return-to-origin is incomplete.
This function does not work correctly
unless the lead length and decelera-
tion ratio parameters are set correctly.
4
208
4-
12.3.4

Double-carrier setting

This controller has a function to prevent two carriers (sliders) from colliding with each-
other, when the two carriers are installed on the same axis of double-carrier type robots.
Fig. 4-12-84 Double-carrier type robot
The anti-collision function works as follows:
• During manual movement
When one carrier is moving towards the other carrier, it stops just short of the other
carrier.
• During automatic operation
The target position of one carrier and the other carrier condition are first checked.
If there is a possibility that a collision may occur, then one carrier waits until the other
carrier has moved to a position where no collision will occur and next moves to the
target position, or the operation stops as an error.

12.3.4.1 Before using a double-carrier

Check the following items before using the anti-collision function.
1. As shown in the drawing below, each carrier should approach the other carrier when it
moves in the "+" direction. If not, please consult us.
Fig. 4-12-85 Double-carrier setting
"+" direction for carrier 1
2. Each carrier's movement distance on the display should match the distance that the
carrier has actually moved. If not, please consult us.
"+" direction for carrier 2