Yamaha RCX142, Руководство пользователя

Страница: 330 / 450

5-
28
T
wo-robot setting
5
2. Operations and data when using the two-robot setting
[Procedure]
Although the following explanation applies to a double-carrier type robot, the same settings
are used for a double-arm type robot.
1) Establish the SYSTEM>OPTION>W.CARRIER mode.
2) Specify the settings.
1. Stroke setting
With carrier-B at its origin position, this "stroke" is the distance ("mm" units) from
carrier-A's origin point, to the position where it is nearest to carrier-B.
Origin position
Origin position
Point where carriers are nearest
to each other
Stroke
A
B
A
If the carriers are equipped with a tools, the stroke must be set so that the tools do
not interfere with each other.
B A A
Stroke
Position where tools are nearest
to each other
Origin position Origin position
2-1) Use the cursor up/down (
↑
/
↓
) keys to select "1. Stroke [mm]", then press the
F 1
(EDIT) key.
2-2) Enter the stroke value, then press the key.
The stroke value is entered in "mm" units, and is valid up to the 2nd decimal
position.
Fig. 5-2-46 Stroke setting
SYSTEM >OPTION>W.CARRIER V8.66
1.Stroke[mm] 0.00
2.Carrier1 M1
3.Carrier2 M2
4.Controll mode OFF
[1- ] Enter >0.00