Yamaha RCX142 User Manual page 273

n
NOTE
During automatic operation with the
control mode ON, operation is stopped
as an error ("2.27 W. carrier
deadlock" error) when one carrier
attempts to move to a position where it
will interfere with the other carrier
that is ready to move.
4. Control mode setting
Select the double-carrier functions.
[Procedure]
1) Select "4. Control mode" and press
Fig. 4-12-90 Double-carrier parameter setting (4)
SYSTEM>OPTION>W.CARRIER>EDIT
1.Stroke[mm]
2.Carrier1
3.Carrier2
4.Control mode
OFF WARNING
The robot moves as follows according to the control mode setting.
Valid keys Menu
F1 OFF
Anti-collision function is disabled.
During Manual
movement
F2 WARNING
During auto
operation
During Manual
movement
F3 ON
During auto
operation
* The "manual movement" and "auto operation" conditions indicated in the above table are defined as shown
below
During Manual movement:
• Manual movement at MPB
• Jog and inching movement by I/O commands
• Jog and inching movement by online commands
• Jog and inching movement by remote commands
During auto operation:
• During "AUTO" mode program operation (including "step" and "next" execution)
• MOVE, MOVEI, Pallet motion by I/O commands
• Motion by online commands executed independently by robot language (including Return-to-origin
command)
• MOVE, MOVEI, DRIVE, DRIVEI, Pallet motion by remote commands
• Direct motion command execution by MPB
12. "SYSTEM" mode
(EDIT).
F 1
V8.58
650.00
M1
M2
OFF
ON
Function
Stops a carrier moving toward the other carrier before reaching
that carrier.
Program operation "error stop" occurs during auto operation
when the target position of one carrier will interfere with the
other carrier.
Stops a carrier moving toward the other carrier before reaching
that carrier.
If the target position of one carrier will interfere with the other
carrier during auto operation, the carrier stands by until
interference-free motion is possible.
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