Programming; Robot Languages Used In The Two-Robot Setting - Yamaha RCX240 User Manual

3. Programming

3.1

Robot languages used in the two-robot setting

The commands which can be used in the robot languages for robot operation and coordinate
control, etc., vary according to the group. The main commands and functions are listed below.
Type
DRIVE, DRIVEI, MOVE, MOVEI,
Robot operation
PMOVE, SERVO *, WAIT ARM
Coordinate CHANGE, HAND,
control LEFTY/RIGHTY, SHIFT
ACCEL, ARCH, ASPEED, AXWGHT,
Status change DECEL, ORGORD, OUTPOS, SPEED,
TOLE, WEIGHT
Point calculation JTOXY, WHERE, WHRXY, XYTOJ
Parameter ACCEL, ARCH, AXWGHT, DECEL,
referencing ORGORD, OUTPOS, TOLE, WEIGHT
Status ABSRPOS, ARMCND, ARMTYPE,
referencing MCHREF
PATH, PATH END, PATH SET, PATH
PATH control
START
DRIVE (in systems with the torque
Torque control limiting option), TORQUE, TRQSTS,
TRQTIME
* When specifying all axes by SERVO or SERVO2, all axes in both the main and sub groups are specified.
However, the commands which can be used when performing robot motion vary depending on the
axis setting status.
Main rbot
(Main robot axes)
MOVE
MOVE2
MOVEI
MOVEI2
DRIVE
DRIVE2
DRIVEI
DRIVEI2
PMOVE
PMOVE2
PATH control
PATH
PATH END
PATH SET
PATH START
n
NOTE
For details regarding each robot language, refer to the RCX Series Programming
Manual.
Main Group
Main auxiliary axes
×
l
× ×
×
l
× ×
l l
× ×
l l
× ×
×
l
× ×
×
l
Sub Group
DRIVE2, DRIVEI2, MOVE2, MOVEI2,
PMOVE2, SERVO2 *, WAIT ARM2
CHANGE2, HAND2,
LEFTY2/RIGHTY2, SHIFT2
ACCEL2, ARCH2, ASPEED2,
AXWGHT2, DECEL2, ORGORD2,
OUTPOS2, SPEED2, TOLE2, WEIGHT2
JTOXY2, WHERE2, WHRXY2, XYTOJ2
ACCEL2, ARCH2, AXWGHT2, DECEL2,
ORGORD2, OUTPOS2, TOLE2,
WEIGHT2
ABSRPOS2, ARMCND2, ARMTYPE2,
MCHREF2
DRIVE2 (in systems with the torque
limiting option), TORQUE2, TRQSTS2,
TRQTIME2
Sub robot
(Sub robot axes)
×
l
×
l
×
l
×
l
×
l
×
Chapter 5 TWO-ROBOT SETTING
3. Programming
Sub auxiliary axes
×
×
×
×
×
l
×
l
×
×
×
5-45
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