Yamaha RCX222, Руководство пользователя

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4-244
Chapter
4
OPERA
TION
4-245
12. "SYSTEM" mode
4. Control mode setting
Select the double-carrier functions.
[Procedure]
1) Select "4. Control mode" and press (EDIT).
■
Double-carrier parameter setting (4)
SYSTEM >OPTION>W.CARRIER>EDIT V9.00
1.Stroke[mm] 650.00
2.Carrier1 M1
3.Carrier2 M2
4.Control mode OFF
OFF WARNING ON
The robot moves as follows according to the control mode setting.
Valid keys Menu Function
F1 OFF Anti-collision function is disabled.
F2 WARNING
During
Manual
movement
Stops a carrier moving toward the other carrier
before reaching that carrier.
During
auto
operation Program operation "error stop" occurs during auto
operation when the target position of one carrier
will interfere with the other carrier.
F3 ON
During
Manual
movement
Stops a carrier moving toward the other carrier
before reaching that carrier.
During
auto
operation
If the target position of one carrier will interfere
with the other carrier during auto operation, the
carrier stands by until interference-free motion is
possible.
* The "manual movement" and "auto operation" conditions indicated in the above table are defined as
shown below
During Manual movement:
• Manual movement at RPB
• Jog and inching movement by I/O commands
• Jog and inching movement by online commands
• Jog and inching movement by remote commands
During auto operation:
• During "AUTO" mode program operation (including "step" and "next" execution)
• MOVE, MOVEI, Pallet motion by I/O commands
• Motion by online commands executed independently by robot language (including Return-to-
origin command)
• MOVE, MOVEI, DRIVE, DRIVEI, Pallet motion by remote commands
• Direct motion command execution by RPB
n
NOTE
During automatic operation with the control mode ON, operation is stopped
as an error ("2.27 W. carrier deadlock" error) when one carrier attempts to
move to a position where it will interfere with the other carrier that is ready
to move.