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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2.3.5 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.
n
NOTE
For "Double-carrier collision prevention" details, also see "12.3.4 Double-carrier
setting" is Chapter 4.
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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.
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.
Double-carrier setting (1)
"+" direction
for carrier 1
"+" direction
for carrier 2
2. Operations and data when using the two-robot setting