Yamaha RCX240, User Manual

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Chapter 5 TWO-ROBOT SETTING
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Chapter 5 TWO-ROBOT SETTING
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2.2 "MANUAL" mode
The robot to be operated must be selected when performing the following operations in "MANUAL"
mode:
• Manual movement
• Point data input by direct teaching
• Input by point data direct teaching
• Setting the point in pallet definition by teaching
• Pallet definition by teaching
• Manual movement speed change
• Shift coordinate setting method
• Hand definition setting
Note that the two-robot setting's function key display content when an absolute reset occurs differs
from that in the one-robot setting. For details, see "2.2.8 Absolute reset".
2.2.1 Current position
The robot's current position displays at the initial screen in the "MANUAL" mode. The "M" display
indicates the main robot axes, and the "S" display indicates the sub robot axes. For settings with
auxiliary axes, "m" indicates main auxiliary axes, and "s" indicates sub auxiliary axes.
n
NOTE
For details regarding the current position display, also see "11. "MANUAL" mode" in
Chapter 4.
ＭＡＮＵＡＬ ５０ ／ ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］
Ｃｕｒｒｅｎｔ ｐｏｓｉｔｉｏｎ
＊Ｍ１＝ ０＊Ｍ２＝ ０
＊Ｓ１＝ ０＊Ｓ２＝ ０
ＰＯＩＮＴ ＰＡＬＬＥＴ ＶＥＬ＋ ＶＥＬ−
Current position display
M... Main robot axes m... Main auxiliary axes
S.... Sub robot axes s.... Sub auxiliary axes
1 ~ (numeric value)..."Pulse" units
"MANUAL" mode screen example ("pulse" units)
2. Operations and data when using the two-robot setting