Yamaha RCX142, User Manual

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5-
3
5
T
wo-robot setting
2. Operations and data when using the two-robot setting
The operations, data types and enabled functions unique to the two-robot setting are
explained in this section.
This explanation consists of excerpts from Chapter 4 "Operation" and Chapter 10
"Troubleshooting" which relate to two-robot setting operations. Although portions of those
chapters appear in this explanation, be sure to also refer to the above chapters for details.
2.1 "AUTO" mode
The robot to be operated must be selected when performing the following operations in
the "AUTO" mode:
• Automatic motion speed change
• Point trace function
2.1.1 Changing the automatic movement speed
Automatic movement speeds are specified in a group-specific manner.
[Procedure]
1) Press the (
LOWER
+
MODE
) robot keys to toggle between the groups (the selected
group is highlighted) at the Automatic movement speed display area. The
highlighted speed value is the Automatic movement speed for the currently selected
group.
Fig. 5-2-1 Changing the automatic movement speed (two-robot setting: Main group selected)
Main Group /Sub Group
(Main group is selected)
AUTO
50 /100% <TEST1 >
——————————————————————————————————————————
1
’***** *
TEST1 PROGRAM *****
2 START *SUBTASK,T2
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
RESET TASK DIR VEL+ VEL-
[T1]
Automatic movement speed
Fig. 5-2-2 Changing the automatic movement speed (two-robot setting: Sub group selected)
AUTO
[T1] 50/ 100 % <TEST1 >
——————————————————————————————————————————
1
’***** *
TEST1 PROGRAM *****
2 START *SUBTASK,T2
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
RESET TASK DIR VEL+ VEL-
Main Group/ Sub Group
(Sub group is selected)
Automatic movement speed
n
NOTE
For details concerning changing the
automatic movement speed, also see
"9.6 Changing the automatic
movement speed " in chapter 4.