Yamaha RCX142 User Manual

5-4
Two-robot setting
5
2. Operations and data when using the two-robot setting
2) Use the
F 4
(VEL+),
F 5
(VEL-),
F 9
(VEL++),
F 10
(VEL--) keys to
change the speed for the currently selected group.
2.1.2 Executing the point trace
The point trace is executed in a group-specific manner.
Before executing this function, be sure to verify the currently selected group. The selected
group can be changed by the procedure described below.
[Procedure]
1) In the "AUTO" mode, press the
F 6
(Point) key.
2) Press the (
LOWER
+
MODE
) robot keys to toggle between the groups (the selected
group is displayed). An "[MG]" display indicates the main group, and "[SG]"
indicates the sub group.
Fig. 5-2-3 Point trace screen (Two-robot setting: "Main group" selected)
AUTO POINT 50/100% [MG] [S0H0J]
————————————x————
— ———y———— — ———z————— — ——r———
P3 = 150.50 64.53 0.00 0.00
P4 = 96.65 224.89 0.00 0.00
P5 = 63432 19735 0 0
COMNT: [ ]
[POS] 0 0 0 0
>
PTP ARCH LINEAR
Subject group display
MG (Main group is selected)
Fig. 5-2-4 Point trace screen (Two-robot setting: "Sub group" selected)
AUTO POINT 50/100% [SG] [S0H4J]
————————————x————
— ———y———— — ———z————— — ——r———
P3 = 150.50 64.53 0.00 0.00
P4 = 96.65 224.89 0.00 0.00
P5 = 63432 19735 0 0
COMNT: [ ]
[POS] 0 0 0 0
>
PTP ARCH LINEAR
Subject group display
SG (Sub group is selected)
3) Select the motion mode for the point trace, then execute the point trace function.
n
NOTE
For details concerning executing the
point trace, also see "9.7 Executing
the point trace" in Chapter 4.
w
WARNING
The robot starts to move when
point trace is executed. Do not
enter the robot movement range
to avoid danger.

Yamaha RCX142 Specifications

General

Brand	Yamaha
Model	RCX142
Category	Controller
Language	English