Yamaha RCX142, User Manual

Page: 328 / 450

5-
26
T
wo-robot setting
5
2. Operations and data when using the two-robot setting
2.3.4 Setting the area check output
The area check output function performs area checks based on the robot's current position
and the point data area specified by the area check output parameters. The check result is
then output to the specified port.
In the two-robot setting, the robot where the area check output is to be executed must be
selected. All other settings are identical to those used in the one-robot setting.
[Procedure]
1) In the SYSTEM>OPTION>POS.OUT mode, use the cursor up/down (
↑
/
↓
) keys to
select the area check output number, then press the
F 1
(SELECT) key.
Fig. 5-2-42 Area check output
SYSTEM >OPTION>POS.OUT
1.Output of area1 NO
2.Output of area2 NO
3.Output of area3 NO
4.Output of area4 NO
SELECT
V8.66
2) Select "1. area check output", then press the
F 1
(EDIT) key.
Fig. 5-2-43 Area check output
SYSTEM >OPTION>POS.OUT>SELECT
1.Output of area1 NO
EDIT
V8.66
2.Output port1(DO & SO) 20
3.Compare Point number11 PO
4.Compare Point number12 PO
5.Condition IN
JUMP
3) Use the
F 1
(NO) to
F 3
(SUB) keys to select the robot where the area check
output is to be executed.
Fig. 5-2-44 Area check output Execution robot selection
SYSTEM >OPTION>POS.OUT>SELECT
1.Output of area1 NO
NO
V8.66
2.Output port1(DO & SO) 20
3.Compare Point number11 PO
4.Compare Point number12 PO
5.Condition IN
MAIN SUB
NO ...Area check output is not executed.
MAIN ...Area check output is executed at the main robot
(including main auxiliary axes).
SUB ...Area check output is executed at the sub robot
(including sub auxiliary axes).
4) Next, specify the other settings.
n
NOTE
• For "Setting the area check
output" details, also see "12.3.1
Setting the area check output" in
Chapter 4.
• The area check output function is
disabled when in an "origin
incomplete" status.