Yamaha RCX142, User Manual

Page: 308 / 450

5-
6
T
wo-robot setting
5
2. Operations and data when using the two-robot setting
2.2.2 Manual movement
Manual movement is executed in a group-specific manner. Before executing this function,
be sure to verify the currently selected group. The selected group can be changed by the
procedure described below.
[Procedure]
1) Press the (
LOWER
+
MODE
) robot keys to toggle between the groups (the selected
group is displayed). An "[MG]" display indicates the main group, and "[SG]"
indicates the sub group.
Fig. 5-2-7 "Pulse" units (J) example (Two-robot setting: Main group selected)
MANUAL 50 / 50%[MG][S0H0J]
—————————————————————————————————————————
Current position
*M1= 0 *M2= 0
*S1= 0 *S2= 0
POINT PALLET VEL+ VEL-
Subject group display
MG (Main group is selected)
Fig. 5-2-8 "Pulse" units (J) example (Two-robot setting: Sub group selected)
MANUAL 50/ 50 %[SG][S0H4J]
—————————————————————————————————————————
Current position
*M1= 0 *M2= 0
*S1= 0 *S2= 0
POINT PALLET VEL+ VEL-
Subject group display
SG (Sub group is selected)
Fig. 5-2-9 "mm" units (X) example (Two-robot setting: Main group selected)
MANUAL 50 / 50%[MG][S0H0X]
—————————————————————————————————————————
Current position
*Mx= 0.00 *My= 0.00
*Sx= 0.00 *Sy= 0.00
POINT PALLET VEL+ VEL-
Subject group display
MG (Main group is selected)
n
NOTE
For manual movement details, also see
"11.1 Manual movement" in Chapter 4.