Outline - YASKAWA YRC1000micro Instructions Manual

HW1484566
1

Outline

YRC1000micro
1 Outline
The group change function attaches/detaches a tool with multiple external
axes, such as end effector, etc (hereinafter called "hand").
The following explain how to replace the hand with external axes.
In the example below, the hand with two external axes is group S1, and
the hand with three external axes is group S2.
When the manipulator moves with the hand: S1, the job control group is
R1 + S1.
When the manipulator moves with the hand: S2, the job control group is
R1 + S2.
Fig. 1-1: Example of Group Change
Manipulator (R1)
1-1
Hand with two Hand with three
external axes (S1) external axes (S2)
HW1484566
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