Axis Definition For The Rcx141 - Yamaha RCX141 User Manual

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Axis definition for the RCX141

Axis definitions for the YAMAHA RCX141 robot controller are shown below.
Robot Main group (MG)
controller (RC)
Subgroup (SG)
Robot controller ................ Indicates the entire robot controller and controls a
Main group ........................ Indicates the main robot and main auxiliary axes and has a
Main robot ......................... Indicates the robot name specified as a main robot, and
Main robot axes ................. Indicate the axes composing the main robot.
Main auxiliary axes ........... Are the single axes composing the main group.
Sub group .......................... Indicates the sub robot and sub auxiliary axes, and has a
Sub robot ........................... Indicates the robot name specified as a sub robot, and
Sub robot axes ................... Indicate the axes composing the sub robot.
Sub auxiliary axes ............. Are the single axes composing the sub group.
Only the main robot axes are usually specified. Auxiliary axes and sub group settings are
for options made at the time of shipment.
Main robot (MR)
Sub robot (SR)
maximum of 4 axes.
The letters "RC" are displayed on the MPB.
maximum of 4 axes.
The letters "MG" are displayed on the MPB.
includes all axes of the main robot.
The letters "MR" are displayed on the MPB.
These can be moved with the robot language MOVE
command.
The letters "M?" are displayed on the MPB. (?=1 to 4)
These cannot be moved with the robot language MOVE
command. Use the DRIVE command to move these axes.
The letters "m?" are displayed on the MPB. (?=1 to 4)
maximum of 2 axes.
The letters "SG" are displayed on the MPB.
includes all axes of the sub robot.
The letters "SR" are displayed on the MPB.
These can be moved with the robot language MOVE2
command.
The letters "S?" are displayed on the MPB. (?=1 to 2)
These cannot be moved with the robot language MOVE2
command. Use the DRIVE2 command to move these axes.
The letters "s?" are displayed on the MPB. (?=1 to 2)
1. System overview
Main robot axis (M?)
Main robot auxiliary axis (m?)
Sub robot axis (S?)
Sub robot auxiliary axis (s?)
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