Yamaha RCX142 User Manual page 330

2. Operations and data when using the two-robot setting
5
28
5-
[Procedure]
Although the following explanation applies to a double-carrier type robot, the same settings
are used for a double-arm type robot.
1) Establish the SYSTEM>OPTION>W.CARRIER mode.
2) Specify the settings.
1. Stroke setting
With carrier-B at its origin position, this "stroke" is the distance ("mm" units) from
carrier-A's origin point, to the position where it is nearest to carrier-B.
Origin position
A
If the carriers are equipped with a tools, the stroke must be set so that the tools do
not interfere with each other.
Origin position
A
2-1) Use the cursor up/down (↑/↓) keys to select "1. Stroke [mm]", then press the
(EDIT) key.
F 1
2-2) Enter the stroke value, then press the
The stroke value is entered in "mm" units, and is valid up to the 2nd decimal
position.
Fig. 5-2-46 Stroke setting
SYSTEM >OPTION>W.CARRIER
1.Stroke[mm]
2.Carrier1
3.Carrier2
4.Controll mode
[1- ] Enter >0.00
Origin position
B
A
Point where carriers are nearest
to each other
Stroke
Origin position
A
B
Position where tools are nearest
to each other
key.
V8.66
0.00
M1
M2
OFF