Operations And Data When Using The Two-Robot Setting; Auto" Mode; Changing The Automatic Movement Speed - Yamaha RCX142 User Manual

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

n
NOTE
For details concerning changing the
automatic movement speed, also see
"9.6 Changing the automatic
movement speed " in chapter 4.
The operations, data types and enabled functions unique to the two-robot setting are
explained in this section.
This explanation consists of excerpts from Chapter 4 "Operation" and Chapter 10
"Troubleshooting" which relate to two-robot setting operations. Although portions of those
chapters appear in this explanation, be sure to also refer to the above chapters for details.
2.1

"AUTO" mode

The robot to be operated must be selected when performing the following operations in
the "AUTO" mode:
• Automatic motion speed change
• Point trace function
2.1.1

Changing the automatic movement speed

Automatic movement speeds are specified in a group-specific manner.
[Procedure]
1) Press the ( +
LOWER MODE
group is highlighted) at the Automatic movement speed display area. The
highlighted speed value is the Automatic movement speed for the currently selected
group.
Fig. 5-2-1 Changing the automatic movement speed (two-robot setting: Main group selected)
AUTO
——————————————————————————————————————————
1 '***** * TEST1 PROGRAM *****
2 START *SUBTASK,T2
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
RESET TASK
Fig. 5-2-2 Changing the automatic movement speed (two-robot setting: Sub group selected)
AUTO
——————————————————————————————————————————
1 '***** * TEST1 PROGRAM *****
2 START *SUBTASK,T2
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
RESET TASK
) robot keys to toggle between the groups (the selected
Automatic movement speed
Main Group
(Main group is selected)
[T1]
50/100% <TEST1
DIR VEL+
Automatic movement speed
Main Group/
(Sub group is selected)
[T1] 50/100% <TEST1
DIR VEL+
/Sub Group
>
VEL-
Sub Group
>
VEL-
3
5-
5