Yamaha RCX240 User Manual page 408

2. Operations and data when using the two-robot setting
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Execute point trace.
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Select the motion mode (PTP, arch, line), then execute point trace.
w
WARNING
THE ROBOT STARTS TO MOVE WHEN POINT TRACE IS EXECUTED. DO NOT ENTER THE
ROBOT MOVEMENT RANGE TO AVOID DANGER.
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5-6
Chapter 5 TWO-ROBOT SETTING
Point trace screen (Two-robot setting: "Sub group" selected)
Subject group display
SG (Sub group is selected)