Yamaha RCX240, User Manual

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Chapter 5 TWO-ROBOT SETTING Chapter 5 TWO-ROBOT SETTING
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2.2.7 Hand definition
In the two-robot setting, the same hand data is used by both robots. Hand definition numbers H0 to
H3 can be used at the main robot, and H4 to H7 can be used at the sub robot.
Hand definition data is disabled when in the "multi type robot" mode.
n
NOTE
For hand definition details, also see "11.6 Displaying, editing and setting hand
definitions" in Chapter 4.
Hand selection display
Main group
Sub group
"H0" is selected as the main group's hand definition number, and "H4" is
selected as the sub group's hand definition number.
ＭＡＮＵＡＬ ５０ ／ ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］
ＭＡＮＵＡＬ ５０／ ５０ ％［ＳＧ］［Ｓ０Ｈ４Ｘ］
Hand definition
2.2.7.1 Hand definition setting method 1
For Cartesian robots, hand definition data can be set by teaching the "non-hand work point" and
"hand work point" as the same point.
n
NOTE
• For "hand definition setting method 1" details, also see "11.6.2 Hand definition
setting method 1" in Chapter 4.
• The "hand definition setting method 1" setting is usable when the robot is
equipped with a hand on the number 2 arm.
• The setting method explained here applies to Cartesian robots.
In the two-robot setting, the hand definition numbers. are determined individually for the main
and sub groups. Before executing this function, be sure to verify the currently selected group. The
selected group can be changed by the procedure described below.
1
In the "MANUAL" mode, press (Hand).
Establish the MANUAL>HAND mode.
2. Operations and data when using the two-robot setting