Setting The Rotating Direction; Setting The Home Position; Precautions Upon Application With Coordinated Motion; Coordinated Motion With Twin-2 - YASKAWA Motoman XRC Function Manual

6.3 Setting the Home Position

6.2.3

Setting the Rotating Direction

When using the twin drive, specify the same motor rotating direction for both twin-driven axes.
Specifying a different direction for each axis may damage a jig and break down the system.
Before using the twin drive, confirm the rotating direction of the twin-driven axes to set the cor-
rect rotating direction.
6.3
Setting the Home Position
Operate the two station axes configured for the twin drive at the same time and teach the
home position so that the two axes have the same "0" position.
Because the two axes have the same "0" pulse position, axis operation and playback can be
performed with the same pulse value.
6.4
Precautions upon Application with Coordinated
Motion
The station coordinated function can be used as an option. The following restrictions apply for
the station axes with the twin drive.
6.4.1

Coordinated Motion with TWIN-2

When the robot moves in a coordinated motion using TWIN-2, the coordinated motion is
applied to the 1st station axis. The 2nd station axis and the 1st station axis move in twin drive.
Calibrate the 1st station axis only.
The coordinated motion is not valid for the 2nd station axis.
6.4.2

Coordinated Motion with TWIN-3A or TWIN-3B

When the robot moves in a coordinated motion using TWIN-3A or TWIN-3B, the coordinated
motion is applied to the station configured by the 1st station axis and the 2nd station axis. The
1st, 2nd, and 3rd station axes move in the twin drive.
Calibrate the station configured by the 1st and 2nd station axes.
The coordinated motion is not valid for the 3rd station axis.
6-2