Yamaha RCX142 User Manual page 301

Chapter 5
Two-robot setting
1. Explanation of two-robot setting ...................................................... 5-1
1.1 Two-robot setting .................................................................................. 5-1
1.2 System configuration example .............................................................. 5-2
2. Operations and data when using the two-robot setting .................... 5-3
2.1 "AUTO" mode ....................................................................................... 5-3
2.1.1 Changing the automatic movement speed .............................................. 5-3
2.1.2 Executing the point trace ........................................................................ 5-4
2.2 "MANUAL" mode ................................................................................. 5-5
2.2.1 Current position ..................................................................................... 5-5
2.2.2 Manual movement ................................................................................. 5-6
2.2.3 Point data ............................................................................................... 5-8
2.2.3.1 Point data input by teaching ..................................................................... 5-9
2.2.3.2 Input by point data direct teaching ......................................................... 5-10
2.2.4 Pallet definition .................................................................................... 5-10
2.2.4.1 Setting the point in pallet definition by teaching ..................................... 5-11
2.2.4.2 Pallet definition by teaching ................................................................... 5-11
2.2.5 Changing the manual movement speed ............................................... 5-12
2.2.6 Shift coordinates .................................................................................. 5-13
2.2.6.1 Shift coordinates setting method 1 .......................................................... 5-15
2.2.6.2 Shift coordinates setting method 2 .......................................................... 5-16
2.2.7 Hand definition .................................................................................... 5-17
2.2.7.1 Hand definition setting method 1 ........................................................... 5-17
2.2.8 Absolute reset ...................................................................................... 5-19
2.2.8.1 Checking absolute reset status ................................................................ 5-19
2.2.8.2 Absolute reset on each axis (Mark Method) ............................................ 5-20
2.2.8.3 Absolute reset on each axis (Stroke end method / sensor method) .......... 5-21
2.2.8.4 Absolute reset on all axes ....................................................................... 5-22
2.3 "SYSTEM" mode .................................................................................. 5-24
2.3.1 "SYSTEM" mode initial screen format ................................................... 5-24
2.3.2 Robot parameters screen format ........................................................... 5-25
2.3.3 Axis parameters screen format ............................................................. 5-25
2.3.4 Setting the area check output ............................................................... 5-26
2.3.5 Double-carrier collision prevention ..................................................... 5-27
2.4 Error message displays ........................................................................ 5-31
3. Programming .................................................................................. 5-32
3.1 Robot languages used in the two-robot setting .................................... 5-32
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