Yamaha RCX142, User Manual

Page: 329 / 450

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5
T
wo-robot setting
2. Operations and data when using the two-robot setting
2.3.5 Double-carrier collision prevention
When two carriers or arms are installed on the same axis of double-carrier type robots,
this function prevents the two carriers from colliding with each other.
This function is effective on robots such as the NXY-W which have 2 arms on the same
axis.
Fig. 5-2-45 Double arm type robot
Prevents same-axis carriers
from colliding with each other
The following conditions must be satisfied in order to use the double-carrier collision
prevention.
q
Either of the carriers (arms) must approach the other carrier (arm) when moving in its
plus direction as follows. If this is not the case, please contact your YAMAHA
representative.
"+" direction
for carrier 1
"+" direction
for carrier 2
w
Each carrier's (arm's) motion amount indicated on the MPB screen must match the
actual motion amount. If the amounts do not match, please contact your Yamaha
representative.
MANUAL 50 / 50%[MG][S0H0X]
—————————————————————————————————————————
Current position
*Mx= 0 00 . 0 *My= 0 00 .
MANUAL 50 / 50%[MG][S0H0X]
—————————————————————————————————————————
Current position
*Mx= 300 00 . 0 *My= 0 00 .
Movement distance
n
NOTE
• For "Double-carrier collision
prevention" details, also see
"12.3.4 Double-carrier setting" is
Chapter 4.
• The anti-collision function for
double-carriers is supported by
controllers of Ver. 8.58 onwards.
c
CAUTION
The double-carrier collision
prevention is disabled when in an
"origin incomplete" condition.
Moreover, this function may fail to
operate properly if the lead length
and deceleration ratio settings are
specified incorrectly.