Programming; Robot Languages Used In The Two-Robot Setting - Yamaha RCX142 User Manual

3. Programming

n
NOTE
• For details regarding each robot
language, refer to the RCX Series
Programming Manual.
• MOVE2 linear and circular
interpolation motion is supported
only in Ver.8.64 and later
versions.
5
32
5-
3.1

Robot languages used in the two-robot setting

The commands which can be used in the robot languages for robot operation and coordinate
control, etc., vary according to the group. The main commands and functions are listed
below.
Type
DRIVE, DRIVEI, MOVE, MOVEI,
Robot operation
PMOVE, SERVO *, WAIT ARM
Coordinate CHANGE, HAND, LEFTY/RIGHTY,
control
SHIFT
ACCEL, ARCH, ASPEED, AXWGHT,
Status change
DECEL, ORGORD, OUTPOS,
SPEED, TOLE, WEIGHT
Point calculation
JTOXY, WHERE, WHRXY, XYTOJ
Parameter
ACCEL, ARCH, AXWGHT, DECEL,
referencing
ORGORD, OUTPOS, TOLE, WEIGHT
Status ABSRPOS, ARMCND, ARMTYPE,
referencing
MCHREF
PATH, PATH END, PATH SET,
PATH control
PATH START
DRIVE (in systems with the torque
Torque control
limiting option), TORQUE, TRQSTS,
TRQTIME
* When specifying all axes by SERVO or SERVO2, all axes in both the main and sub groups are specified.
However, the commands which can be used when performing robot motion vary depending
on the axis setting status.
Main rbot
(Main robot axes)
MOVE
MOVE2
MOVEI
MOVEI2
DRIVE
DRIVE2
DRIVEI
DRIVEI2
PMOVE
PMOVE2
PATH control
PATH
PATH END
PATH SET
PATH START
Main Group
DRIVE2, DRIVEI2, MOVE2, MOVEI2,
PMOVE2, SERVO2 *, WAIT ARM2
CHANGE2, HAND2,
LEFTY2/RIGHTY2, SHIFT2
ACCEL2, ARCH2, ASPEED2,
AXWGHT2, DECEL2, ORGORD2,
OUTPOS2, SPEED2, TOLE2,
WEIGHT2
JTOXY2, WHERE2, WHRXY2,
XYTOJ2
ACCEL2, ARCH2, AXWGHT2,
DECEL2, ORGORD2, OUTPOS2,
TOLE2, WEIGHT2
ABSRPOS2, ARMCND2, ARMTYPE2,
MCHREF2
DRIVE2 (in systems with the torque
limiting option), TORQUE2, TRQSTS2,
TRQTIME2
Sub robot
Main auxiliary axes
(Sub robot axes)
Sub Group
Sub auxiliary axes