Double-Carrier Setting; Before Using A Double-Carrier - Yamaha RCX240 User Manual

12.3.4

Double-carrier setting

This controller has a function to prevent two carriers (sliders) from colliding with each other, when
the two carriers are installed on the same axis of double-carrier type robots.
Double-carrier type robot
c
CAUTION
The anti-collision function does not work if return-to-origin is incomplete. This
function does not work correctly unless the lead length and deceleration ratio
parameters are set correctly.
The anti-collision function works as follows:
• During manual movement
When one carrier is moving towards the other carrier, it stops just short of the other carrier.
• During automatic operation
The target position of one carrier and the other carrier condition are first checked.
If there is a possibility that a collision may occur, then one carrier waits until the other
carrier has moved to a position where no collision will occur and next moves to the target
position, or the operation stops as an error.

12.3.4.1 Before using a double-carrier

Check the following items before using the anti-collision function.
1. As shown in the drawing below, each carrier should approach the other carrier when it
moves in the "+" direction. If not, please consult us.
Double-carrier setting
2. Each carrier's movement distance on the display should match the distance that the carrier
has actually moved. If not, please consult us.
"+" direction for carrier 1
12. "SYSTEM" mode
"+" direction for carrier 2
Chapter 4 OPERATION
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