Yamaha RCX141, User Manual

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Operation
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12. “SYSTEM” mode
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.
Fig. 4-12-83 Double-carrier type robot
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.
Fig. 4-12-84 Double-carrier setting
"+" direction for carrier 2
"+" direction for carrier 1
2. Each carrier's movement distance on the display should match the distance that the
carrier has actually moved. If not, please consult us.
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 decelera-
tion ratio parameters are set correctly.
n
NOTE
The anti-collision function for double
carriers is supported by controllers of
Ver. 8.58 onwards.