Yamaha RCX240, User Manual

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5-10
Chapter 5 TWO-ROBOT SETTING
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Chapter 5 TWO-ROBOT SETTING
5-11
X+
Y+ Y+
X+
Main group
Sub group
①
②
③
④
q
With the main group selected, press , to move the tip of the robot arm
in the X-direction (Cartesian coordinates).
w
With the main group selected, press , to move the tip of the robot arm
in the Y-direction (Cartesian coordinates).
e
With the sub group selected, press , to move the tip of the robot arm
in the X-direction (Cartesian coordinates).
r
With the sub group selected, press , to move the tip of the robot arm
in the Y-direction (Cartesian coordinates).
RPB
MOTOR
XM
YM
ZM
RM
PWR
SRV
SAFETY
RPB
COM
STD.DIO
ROB
I/O
ZR
OP.3
OP.2
OP.4
ACIN
N
P
N1
L1
L
N
SEL
BATT
ZR
XY
BATT
ROB
XY
I/O
ERR
RCX240
Robot motion in "mm" units (X) (ex)
2. When return-to-origin is incomplete:
With the origin position displayed in "pulse" units (J), the Jog keys can be used to
move the robot in the same way when return-to-origin is complete. However, the
message "0.1: Origin incomplete" appears when a jog key is pressed.
With the current position displayed in "mm" units (X), the robot cannot be moved
unless return-to-origin is complete. If an attempt is made to move the robot, the
display automatically changes to "pulse" units (J) and the message "0.1: Origin
incomplete" then appears.
w
WARNING
THE ROBOT STARTS TO MOVE WHEN A jOG kEY IS PRESSED. TO AVOID DANGER, DO
NOT ENTER THE ROBOT MOVEMENT RANGE.
c
CAUTION
If return-to-origin is incomplete, the soft limits do not work correctly.
2. Operations and data when using the two-robot setting