Yamaha RCX142, User Manual

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5-
1
5
T
wo-robot setting
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:
This is the name of the
robot specified as the "sub
robot", and represents the
sub robot axis group. Sub robot axes.
Individual axes of the sub
group. These axes can be
operated only by DRIVE2
and DRIVEI2 commands.
This is the name of the
robot specified as the "main
robot", and represents the
main robot axis group. Main robot axes.
Individual axes of the main
group. These axes can be
moved only by DRIVE and
DRIVEI commands.
Sub group (SG) Sub robot (SR) Sub robot axes (S?)
Sub auxiliary axes (m?)
Main auxiliary axes (m?)
Main group (MG) Main robot (MR) Main robot axes (M?)
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".
Fig. 5-1-1 Axis configuration example (RCX142, SXYx 2 axis spec.
×
2 robots)
RCX142
MOTOR
XM
YM
ZM
RM
PWR
SRV
ERR
SAFETY
MPB
COM
STD.DIO
RGEN
ACIN
P
N
L
N
ROB
I/O
XY
ROB
I/O
ZR
OP. 1
OP.3
OP. 2
OP.4
200-230V~
50-60Hz
MAX.250
0VA
BATT
ZR
XY
MODEL.
SER. NO.
MANUFACTU
RED FACTORY AUTOMATIO
N EQUIPMENT MADE IN JAPAN
CAUTION
READ INST RUCTION MANUAL
Main group (main robot)
Sub robot axes
Main robot axes
Sub group (sub robot)