Yamaha RCX240, Руководство пользователя

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Chapter 5 TWO-ROBOT SETTING
Contents
1. Explanation of two-robot setting 5-1
1.1 Two-robot setting 5-1
1.2 System configuration example 5-3
2. Operations and data when using the two-robot setting 5-4
2.1 "AUTO" mode 5-4
2.1.1 Changing the automatic movement speed 5-4
2.1.2 Executing the point trace 5-5
2.2 "MANUAL" mode 5-7
2.2.1 Current position 5-7
2.2.2 Manual movement 5-8
2.2.3 Point data 5-12
2.2.3.1 Point data input by teaching 5-13
2.2.3.2 Input by point data direct teaching 5-14
2.2.4 Pallet definition 5-15
2.2.4.1 Setting the point in pallet definition by teaching 5-15
2.2.4.2 Pallet definition by teaching 5-16
2.2.5 Changing the manual movement speed 5-18
2.2.6 Shift coordinates 5-19
2.2.6.1 Shift coordinate setting method 1 5-21
2.2.6.2 Shift coordinate setting method 2 5-22
2.2.7 Hand definition 5-24
2.2.7.1 Hand definition setting method 1 5-24
2.2.8 Absolute reset 5-26
2.2.8.1 Checking absolute reset status 5-26
2.2.8.2 Absolute reset on each axis (mark method) 5-27
2.2.8.3 Absolute reset on each axis (stroke end method / sensor method) 5-29
2.2.8.4 Absolute reset on all axes 5-31
2.3 "SYSTEM" mode 5-34
2.3.1 "SYSTEM" mode initial screen format 5-34
2.3.2 Robot parameters screen format 5-35
2.3.3 Axis parameters screen format 5-36
2.3.4 Setting the area check output 5-37
2.3.5 Double-carrier collision prevention 5-39
2.4 Error message displays 5-44
3. Programming 5-45
3.1 Robot languages used in the two-robot setting 5-45