Yamaha RCX240 User Manual page 354

12. "SYSTEM" mode
4. Control mode setting
Select the double-carrier functions.
1
Select "4. Control mode" in "SYSTEM>OPTION>W. CARRIER" mode.
1
Press
2
2
3
4
Set the control mode with the function key.
3
The robot moves as follows according to the control mode setting.
Valid keys
5
6
7
* The "manual movement" and "auto operation" conditions indicated in the above table are defined as
shown below
During Manual movement:
8
• Manual movement at RPB
• Jog and inching movement by I/O commands
• Jog and inching movement by online commands
• Jog and inching movement by remote commands
During auto operation:
• During "AUTO" mode program operation (including "step" and "next" execution)
9
• MOVE, MOVEI, Pallet motion by I/O commands
• Motion by online commands executed independently by robot language (including Return-to-
origin command)
• MOVE, MOVEI, DRIVE, DRIVEI, Pallet motion by remote commands
• Direct motion command execution by RPB
n
NOTE
10
During automatic operation with the control mode ON, operation is stopped as an
error ("2.27:W. carrier deadlock" error) when one carrier attempts to move to a
position where it will interfere with the other carrier that is ready to move.
4-276
Chapter 4 OPERATION
(EDIT).
Double-carrier parameter setting (4)
Menu
OFF Anti-collision function is disabled.
During
Manual
movement
WARNING
During
auto
operation
During
Manual
movement
ON
During
auto
operation
Function
Stops a carrier moving toward the other carrier
before reaching that carrier.
Program operation "error stop" occurs during auto
operation when the target position of one carrier
will interfere with the other carrier.
Stops a carrier moving toward the other carrier
before reaching that carrier.
If the target position of one carrier will interfere
with the other carrier during auto operation, the
carrier stands by until interference-free motion is
possible.