Explanation Of Two-Robot Setting; Two-Robot Setting - Yamaha RCX240 User Manual

1. Explanation of two-robot setting

1.1

Two-robot setting

The two-robot setting refers to a configuration in which two robots are controlled by a single
controller. In the two-robot setting, the multi-task function can be used to operate two robots in an
asynchronous manner.
When the two-robot setting is specified, the robot axes are divided into the following groups.
• Main group
• Sub group
The above groups comprise the following axes:
Axis configuration
Main group (MG)
Sub group (SG)
Where no "main auxiliary axes" and "sub auxiliary axes" exist, the "main group = main robot", and
the "sub group = sub robot".
The main auxiliary axes and sub auxiliary axes can be operated only by the DRIVE (DRIVE2) and
DRIVEI (DRIVEI2) commands. The MOVE (MOVE2) and MOVEI (MOVEI2) commands are invalid
for these axes.
Moreover, the usable robot language varies for each group. For details, see "3.1 Robot languages
used in the two-robot setting".
Main robot (MR)
This is the name of the robot
specified as the "main
robot", and represents the
main robot axis group.
Sub robot (SR)
This is the name of the robot
specified as the "sub robot",
and represents the sub
robot axis group.
Chapter 5 TWO-ROBOT SETTING
1. Explanation of two-robot setting
Main robot axes (M?)
Main robot axes.
Main auxiliary axes (m?)
Individual axes of the main
group. These axes can be
moved only by DRIVE and
DRIVEI commands.
Sub robot axes (S?)
Sub robot axes.
Sub auxiliary axes (m?)
Individual axes of the sub
group. These axes can be
operated only by DRIVE2
and DRIVEI2 commands.
1
2
3
4
5
6
7
8
9
10
5-1