Pallet Definition; Input By Point Data Direct Teaching - Yamaha RCX142 User Manual

2. Operations and data when using the two-robot setting
n
NOTE
For details concerning input by point
data direct teaching, also see "11.2.3
Point data input by direct teaching" in
Chapter 4.
5
n
NOTE
For pallet definition details, also see
"11.3 Displaying, editing and setting
pallet definitions" in Chapter 4.
10
5-
5) When the axis reaches the target point, press the
The specified point is "taught" as the current position of the selected group. Point
data teaching inputs are made in the currently selected coordinate system format.
6) If a point data exists for the specified point number, a confirmation message
displays at the guidance line when the
To execute the teaching operation, press
To abort the teaching operation, press
2.2.3.2

Input by point data direct teaching

Input by point data direct teaching consists of registering the currently selected group's
coordinate values as point data in the same manner as when performing teaching by using
the Jog key.
Before executing this function, be sure to verify the currently selected group. The selected
group can be changed by the same procedure as that described in section "2.2.3.1 Point
data input by teaching".
2.2.4

Pallet definition

When in the two-robot setting, the same pallet definition data is used by both robots.
[Ex] For "PL0":
If the main group uses "PL0" and is selected, the "PL0" coordinates indicate the
main group's coordinate position. If the sub group uses "PL0" and is selected, the
"PL0" coordinates indicate the sub group's coordinate position.
Fig. 5-2-16 Two-robot setting's pallet definition
Main group
F 2
(TEACH) key is pressed.
F 2
(YES).
F 4
(NO).
F 5
PL0
Sub group
(TEACH) key.
PL0