Yamaha RCX142, User Manual

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5-
32
T
wo-robot setting
5
3. Programming
3.1 Robot languages used in the two-robot setting
The commands which can be used in the robot languages for robot operation and coordinate
control, etc., vary according to the group. The main commands and functions are listed
below.
Type
Robot operation
Coordinate
control
Status change
Point calculation
Parameter
referencing
Status
referencing
PATH control
Torque control
Sub Group
DRIVE2, DRIVEI2, MOVE2, MOVEI2,
PMOVE2, SERVO2 *,
WAIT ARM2
CHANGE2, HAND2,
LEFTY2/RIGHTY2, SHIFT2
ACCEL2, ARCH2, ASPEED2,
AXWGHT2, DECEL2, ORGORD2,
OUTPOS2, SPEED2, TOLE2,
WEIGHT2
JTOXY2, WHERE2, WHRXY2,
XYTOJ2
ACCEL2, ARCH2, AXWGHT2,
DECEL2, ORGORD2, OUTPOS2,
TOLE2, WEIGHT2
ABSRPOS2, ARMCND2, ARMTYPE2,
MCHREF2
DRIVE2 (in systems with the torque
limiting option), TORQUE2, TRQSTS2,
TRQTIME2
Main Group
DRIVE, DRIVEI, MOVE, MOVEI,
PMOVE, SERVO *, WAIT ARM
CHANGE, HAND, LEFTY/RIGHTY,
SHIFT
ACCEL, ARCH, ASPEED, AXWGHT,
DECEL, ORGORD, OUTPOS,
SPEED, TOLE, WEIGHT
JTOXY, WHERE, WHRXY, XYTOJ
ACCEL, ARCH, AXWGHT, DECEL,
ORGORD, OUTPOS, TOLE, WEIGHT
ABSRPOS, ARMCND, ARMTYPE,
MCHREF
PATH, PATH END, PATH SET,
PATH START
DRIVE (in systems with the torque
limiting option), TORQUE, TRQSTS,
TRQTIME
* When specifying all axes by SERVO or SERVO2, all axes in both the main and sub groups are specified.
However, the commands which can be used when performing robot motion vary depending
on the axis setting status.
MOVE
MOVE2
MOVEI
MOVEI2
DRIVE
DRIVE2
DRIVEI
DRIVEI2
PMOVE
PMOVE2
PATH control
PATH
PATH END
PATH SET
PATH START
Sub robot
(Sub robot axes)
Sub auxiliary axes Main auxiliary axes
Main rbot
(Main robot axes)
n
NOTE
• For details regarding each robot
language, refer to the RCX Series
Programming Manual.
• MOVE2 linear and circular
interpolation motion is supported
only in Ver.8.64 and later
versions.