Yamaha RCX142, User Manual

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wo-robot setting
2. Operations and data when using the two-robot setting
2.2.7 Hand definition
In the two-robot setting, the same hand data is used by both robots. Hand definition numbers
H0 to H3 can be used at the main robot, and H4 to H7 can be used at the sub robot.
Hand definition data is disabled when in the "multi type robot" mode.
Fig. 5-2-27 Hand definition
"H0" is selected as the main group's hand definition number, and "H4" is
selected as the sub group's hand definition number.
Hand selection display
Main group
Sub group
MANUAL 50 / 50%[MG][S0H0X]
—————————————————————————————————————————
MANUAL 50/ 50 %[SG][S0H4X]
—————————————————————————————————————————
2.2.7.1 Hand definition setting method 1
For orthogonal robots, hand definition data can be set by teaching the "non-hand work
point" and "hand work point" as the same point.
In the two-robot setting, the hand definition numbers. are determined individually for the
main and sub groups. 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) Establish the MANUAL>HAND mode.
2) 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. 5-2-28 Hand definition setting method (Two-robot setting: Main group selected)
MANUAL >HAND 50 / 50% [MG] [S0H0X]
—————————————1————————2————————3————————4———
H0 = 0.00 0.00 0.00
H1 = 0.00 0.00 0.00
H2 = 0.00 0.00 0.00
H3 = 0.00 0.00 0.00
[POS] 0.00 0.00 0.00 0.00
EDIT VEL+ VEL-
Subject group display
MG (Main group is selected)
n
NOTE
For hand definition details, also see
"11.6 Displaying, editing and setting
hand definitions" in Chapter 4.
n
NOTE
• For "hand definition setting
method 1" details, also see "11.6.2
Hand definition setting method 1"
in Chapter 4.
• The "hand definition setting
method 1" setting is usable when
the robot is equipped with a hand
on the number 2 arm.
• The setting method explained here
applies to orthogonal robots.