YASKAWA Motoman DX200 User manual

MANUAL NO.
HW1482181
Part Number: 165637-1CD
Revision: 2
4
DX200 OPTIONS
INSTRUCTIONS
FOR CONVEYOR SYNCHRONIZED FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
The DX200 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
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Copyright © 2016, 2015, 2013 YASKAWA America, Inc.
Terms of Use and Copyright Notice
All rights reserved. This manual is freely available as a service to
YASKAWA customers to assist in the operation of Motoman robots,
related equipment and software This manual is copyrighted property of
YASKAWA and may not be sold or redistributed in any way. You are
welcome to copy this document to your computer or mobile device for
easy access but you may not copy the PDF files to another website, blog,
cloud storage site or any other means of storing or distributing online
content.
Printed in the United States of America
First Printing, 2016
YASKAWA America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: [phone]
www.motoman.com
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MANDATORY
• This manual explains the conveyor synchronized function of the
DX200 system. Read this manual carefully and be sure to
understand its contents before handling the DX200.
• General items related to safety are listed in Chapter 1: Safety of the
DX200 Instructions. To ensure correct and safe operation, carefully
read the DX200 Instructions before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications.
• If such modification is made, the manual number will also be
revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product's warranty.
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We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: [phone]
FAX: [phone]
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved YASKAWA training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
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Notes for Safe Operation
Conveyor Synchronized
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the DX200.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
Even items described as “CAUTION” may result in a serious accident in
some situations.
At any rate, be sure to follow these important items.
DANGER
Indicates an imminent hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
WARNING
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
CAUTION
Indicates a potentially hazardous
situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to
equipment. It may also be used to
alert against unsafe practices.
MANDATORY
Always be sure to follow explicitly
the items listed under this heading.
PROHIBITED
Must never be performed.
NOTE
To ensure safe and efficient operation at all times, be sure to
follow all instructions, even if not designated as “DANGER”,
“WARNING” and “CAUTION”.
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Notes for Safe Operation
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WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX200 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
– Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX200.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem. The emergency stop buttons are
located on the right of front door of the DX200 and the programming
pendant.
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Definition of Terms Used Often in This Manual
Conveyor Synchronized
Function
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows.
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the DX200 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
DX200 Instructions before operating the manipulator.
Equipment Manual Designation
DX200 controller DX200
DX200 programming pendant Programming pendant
Cable between the manipulator and the
controller
Manipulator cable
Equipment Manual Designation
Programming
Pendant
Character Keys
/Symbol Keys
The keys which have characters or its
symbol printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys
/Numeric Keys
[Axis Key] and [Numeric Key] are generic
names for the keys for axis operation and
number input.
Keys pressed
simultaneously
When two keys are to be pressed
simultaneously, the keys are shown with a
“+” sign between them,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
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Description of the Operation Procedure
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Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and the [SELECT] is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
Safeguarding Tips
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General
safeguarding tips are as follows:
• Improper operation can result in personal injury and/or damage to
the equipment. Only trained personnel familiar with the operation of
this equipment, the operator's manuals, the system equipment, and
options and accessories should be permitted to operate this
equipment.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
• The system must be placed in Emergency Stop (E-Stop) mode
whenever it is not in use.
• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of
Energy, use lockout/tagout procedures during equipment
maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),
Occupational Safety and Health Standards for General Industry
(OSHA).
Mechanical Safety Devices
The safe operation of this equipment is ultimately the users responsibility.
The conditions under which the equipment will be operated safely should
be reviewed by the user. The user must be aware of the various national
codes, ANSI/RIA R15.06-2012 safety standards, and other local codes
that may pertain to the installation and use of this equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following
safety equipment is provided as standard:
• Safety barriers
• Door interlocks
• Emergency stop palm buttons located on operator station
Check all safety equipment frequently for proper operation. Repair or
replace any non-functioning safety equipment immediately.
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Programming, Operation, and Maintenance Safety
Conveyor Synchronized
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Programming, Operation, and Maintenance Safety
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. Improper operation can result in personal injury and/or
damage to the equipment. Only trained personnel familiar with the
operation, manuals, electrical design, and equipment interconnections of
this equipment should be permitted to program, or maintain the system.
All personnel involved with the operation of the equipment must
understand potential dangers of operation.
• Inspect the equipment to be sure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place. Check all safety equipment
for proper operation. Repair or replace any non-functioning safety
equipment immediately.
• Check the E-Stop button on the operator station for proper operation
before programming. The equipment must be placed in Emergency
Stop (E-Stop) mode whenever it is not in use.
• Back up all programs and jobs onto suitable media before program
changes are made. To avoid loss of information, programs, or jobs, a
backup must always be made before any service procedures are
done and before any changes are made to options, accessories, or
equipment.
• Any modifications to the controller unit can cause severe personal
injury or death, as well as damage to the robot! Do not make any
modifications to the controller unit. Making any changes without the
written permission from YASKAWA will void the warranty.
• Some operations require a standard passwords and some require
special passwords.
• The equipment allows modifications of the software for maximum
performance. Care must be taken when making these modifications.
All modifications made to the software will change the way the
equipment operates and can cause severe personal injury or death,
as well as damage parts of the system. Double check all
modifications under every mode of operation to ensure that the
changes have not created hazards or dangerous situations.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller and other
equipment. Disconnect and lockout/tagout all electrical circuits
before making any modifications or connections.
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
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Maintenance Safety
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Maintenance Safety
Turn the power OFF and disconnect and lockout/tagout all electrical
circuits before making any modifications or connections.
Perform only the maintenance described in this manual. Maintenance
other than specified in this manual should be performed only by
YASKAWA-trained, qualified personnel.
Summary of Warning Information
This manual is provided to help users establish safe conditions for
operating the equipment. Specific considerations and precautions are also
described in the manual, but appear in the form of Dangers, Warnings,
Cautions, and Notes.
It is important that users operate the equipment in accordance with this
instruction manual and any additional information which may be provided
by YASKAWA. Address any questions regarding the safe and proper
operation of the equipment to YASKAWA Customer Support.
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Customer Support Information
Conveyor Synchronized
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Customer Support Information
If you need assistance with any aspect of your Conveyor Synchronized
Function system, please contact YASKAWA Customer Support at the
following 24-hour telephone number:
For routine technical inquiries, you can also contact YASKAWA Customer
Support at the following e-mail address:
When using e-mail to contact YASKAWA Customer Support, please
provide a detailed description of your issue, along with complete contact
information. Please allow approximately 24 to 36 hours for a response to
your inquiry.
Please have the following information ready before you call Customer
Support:
techsupp[email protected]
NOTE
Please use e-mail for routine inquiries only. If you have an
urgent or emergency need for service, replacement parts,
or information, you must contact YASKAWA Customer
Support at the telephone number shown above.
• System Conveyor Synchronized Function
• Primary Application ___________________________
• Controller DX200
• Software Version Access this information on the
Programming Pendant’s LCD
display screen by selecting {MAIN
MENU} - {SYSTEM INFO} -
{VERSION}
• Robot Serial Number Located on the robot data plate
• Robot Sales Order Number Located on the DX200 controller
data plate
[phone]
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Table of Contents
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Table of Contents
1 Conveyor Synchronized Function ................................................................................................... 1-1
1.1 System Configuration Example.......................................................................................... 1-1
1.2 Conveyor Synchronized Operation .................................................................................... 1-2
1.2.1 Conveyor Home-position Limit Switch ..................................................................1-3
1.2.2 Conveyor Home-position Input Signal .................................................................. 1-3
1.2.3 SYSTART Instruction and Manipulator Motion ..................................................... 1-3
1.3 Conveyor............................................................................................................................ 1-5
1.3.1 Conveyor Form ..................................................................................................... 1-5
1.3.2 Definition of Conveyor Moving Direction............................................................... 1-6
1.3.3 Conveyor Distance for Follow-up.......................................................................... 1-6
1.3.4 Measurement of Conveyor Moving Amount .........................................................1-6
2 Hardware Specifications ................................................................................................................. 2-1
2.1 Required Boards and Setup...............................................................................................2-1
2.2 Connecting YCP02 Board to DX200.................................................................................. 2-1
2.3 Connecting Conveyor Home-Position Signals to DX200 ................................................... 2-3
2.4 Applicable Encoder and Connection Specification ............................................................ 2-4
2.5 Connection Example of One Conveyor.............................................................................. 2-5
2.6 Detecting Encoder Cable Disconnection ........................................................................... 2-5
3 Connector Connection .................................................................................................................... 3-1
3.1 Opening the Front Door .....................................................................................................3-1
3.2 Sensor Cable Connection.................................................................................................. 3-2
3.3 Closing the Front Door....................................................................................................... 3-3
4 Settings for Conveyor Condition File............................................................................................... 4-1
4.1 Conveyor Condition File..................................................................................................... 4-1
4.2 Editing Conveyor Condition File....................................................................................... 4-10
4.2.1 Displaying Conveyor Condition File....................................................................4-10
4.2.2 Editing Conveyor Condition File ......................................................................... 4-10
4.2.2.1 Editing “USED STATUS” .......................................................................4-10
4.2.2.2 Editing “PORT NO.”............................................................................... 4-10
4.2.2.3 Editing “BROKEN LINE DETECT”......................................................... 4-10
4.2.2.4 Editing “ENCODER INPUT” .................................................................. 4-10
4.2.2.5 Editing “ENCODER SIGN” ....................................................................4-10
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4.2.2.6 Editing “CORRECTION”........................................................................ 4-11
4.2.2.7 Editing “TRACKING” ............................................................................. 4-11
4.2.2.8 Editing “USER COORD NO.” ................................................................ 4-11
4.2.2.9 Editing “BASE AXIS” ............................................................................. 4-11
4.2.2.10 Editing “POSITIONAL RESOLUTION”................................................ 4-11
4.2.2.11 Editing “VIRTUAL CONVEYOR SPEED” ............................................ 4-11
4.2.2.12 Editing “AVERAGED TRAVEL TIME” ................................................. 4-11
4.2.2.13 Editing “RESET SIGNAL MONITORING” ........................................... 4-11
4.2.2.14 Editing “CONVEYOR SPEED DOWN MODE”.................................... 4-11
4.2.2.15 Editing “CONVEYOR LOWER LIMIT SPD”......................................... 4-11
4.2.2.16 Editing “VIRTUAL ENCODER INPUT” ................................................ 4-12
4.2.2.17 Editing “VIRTUAL ENCODER OUTPUT”............................................ 4-12
4.2.2.18 Editing “TRACKING CORRECTION” .................................................. 4-12
4.2.2.19 Editing “LS CHATTERING PRVNT DIS” ............................................. 4-12
4.2.2.20 Editing “LS CHATTERING PRVNT TIME” .......................................... 4-12
4.3 Setting Conveyor Positional Resolution........................................................................... 4-13
4.3.1 Setting Conveyor Positional Resolution ............................................................. 4-14
4.3.2 Verifying and Adjusting Conveyor Positional Resolution.................................... 4-15
5 Teaching ......................................................................................................................................... 5-1
5.1 Registering Instructions ..................................................................................................... 5-1
5.1.1 SYSTART Instruction ........................................................................................... 5-1
5.1.1.1 Function .................................................................................................. 5-1
5.1.1.2 Format..................................................................................................... 5-3
5.1.1.3 Registering SYSTART Instruction........................................................... 5-3
5.1.2 SYEND Instruction................................................................................................ 5-5
5.1.2.1 Function .................................................................................................. 5-5
5.1.2.2 Format..................................................................................................... 5-5
5.1.2.3 Registering SYEND Instruction ............................................................... 5-5
5.1.3 SYMOV¨ Instruction.............................................................................................. 5-7
5.1.3.1 Function .................................................................................................. 5-7
5.1.3.2 Format..................................................................................................... 5-7
5.1.4 Interpolation Mode for Conveyor Synchronized Operation................................... 5-8
5.1.4.1 Switching the Interpolation Mode ............................................................ 5-8
5.2 Motion Speed .................................................................................................................... 5-9
5.3 Wrist Posture in Synchronization..................................................................................... 5-11
5.4 Circular Interpolation Steps ............................................................................................. 5-12
5.5 Teaching.......................................................................................................................... 5-12
5.6 Teaching After Interruption of Playback in Synchronized Operation ............................... 5-15
5.6.1 When Adding or Changing Step After Interruption of Synchronized Operation.. 5-15
5.6.2 When Performing Another Teaching (for Other Workpiece)............................... 5-16
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5.7 Notes on Operation..........................................................................................................5-17
5.7.1 Confirming Reach to Step................................................................................... 5-17
5.7.2 Backward (BWD) Operation ............................................................................... 5-17
5.7.3 Changing Tool .................................................................................................... 5-17
5.7.4 Deleting Taught Points ....................................................................................... 5-17
5.8 Job Example .................................................................................................................... 5-18
6 Playback.......................................................................................................................................... 6-1
6.1 Conveyor Speed Down...................................................................................................... 6-1
6.2 Accuracy ............................................................................................................................6-2
6.3 Conveyor Resolution Error.................................................................................................6-2
6.4 Restarting Synchronization After Manipulator Stops .........................................................6-3
6.5 Continuance of Conveyor Synchronized Status ................................................................ 6-3
6.6 Continuance of Parallel Shift Status ..................................................................................6-3
6.7 Conveyor Synchronized Operation During Execution of TIMER and WAIT ...................... 6-3
7 Conveyor Monitoring Windows ....................................................................................................... 7-1
7.1 Conveyor Position Window................................................................................................ 7-2
7.2 Conveyor Speed Window .................................................................................................. 7-3
7.3 Conveyor Tracking Status Window.................................................................................... 7-4
8 Virtual Encoder Mode...................................................................................................................... 8-1
8.1 Virtual Encoder Pulse Count.............................................................................................. 8-1
8.2 Relation Between Encoder Input and Virtual Encoder Input.............................................. 8-1
8.3 Precaution on Switching the Encoder Mode ......................................................................8-1
9 Turntable Synchronized Function ................................................................................................... 9-1
9.1 Setting Up the Turntable Synchronized System ................................................................ 9-1
9.1.1 Settings for Conveyor Condition File .................................................................... 9-1
9.1.2 Calibration between Manipulator and Turntable ................................................... 9-2
9.1.2.1 Setting a Calibration Tool ........................................................................ 9-2
9.1.2.2 Teaching Calibration Position.................................................................. 9-2
9.1.2.3 Operating Calibration............................................................................... 9-3
9.2 Modifying Instructions ........................................................................................................ 9-5
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10 Manual Conveyor Function ......................................................................................................... 10-1
10.1 Settings for Manual Conveyor Function......................................................................... 10-2
10.1.1 Setting the Conveyor Position .......................................................................... 10-2
10.1.2 Enabling/Disabling the Setting.......................................................................... 10-2
10.2 Precautions.................................................................................................................... 10-2
10.2.1 When the Power is Turned ON......................................................................... 10-2
11 Manual Setting Function for Conveyor Home-Position Limit Switch........................................... 11-1
12 Instruction List............................................................................................................................. 12-1
13 Alarm List.................................................................................................................................... 13-1
14 Specific I/O Signals..................................................................................................................... 14-1
14.1 Specific Input Signals “4xxxx”........................................................................................ 14-1
14.2 Specific Output Signals “5xxxx” ..................................................................................... 14-1
15 Conveyor Parameters................................................................................................................. 15-1
16 Sensor Parameters (SxE).......................................................................................................... 16-1
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1 Conveyor Synchronized Function
1.1 System Configuration Example
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1 Conveyor Synchronized Function
1.1 System Configuration Example
A basic system configuration example using DX200 conveyor
synchronized function is shown below.
The manipulator detects the conveyor moving amount by the encoder
mounted on the conveyor.
Fig. 1-1: System Configuration Example for Conveyor Synchronized Operation
DX200
Conveyor
control
panel
Motor
Encoder
(Detects the conveyor
moving amount)
Manipulator
Synchronized section
Conveyor home-position
limit switch
Conveyor
moving direction
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1.2 Conveyor Synchronized Operation
Conveyor Synchronized
Function
1.2 Conveyor Synchronized Operation
The position tracking type conveyor synchronized operation function
modifies the taught path in conveyor non-moving state according to the
conveyor moving amount so that the manipulator performs follow-up
motion in the conveyor moving direction with constant speed relative to
the workpiece.
For example, as shown in Fig. 1-2(a), teach P1 to P7 (P2 to P6 are the
points in synchronization) with the conveyor stopped. In playback
operation, the manipulator follows the conveyor (workpiece) with the
motion path modified in the conveyor moving direction as shown in Fig.
1-2(b).
The conveyor synchronized function can use either the manipulator base
axis or the traveling axis (external axis) to follow the movement of
conveyor. However, the base axis and the traveling axis can not be
selected simultaneously.
Fig. 1-2(a): Teaching
Fig. 1-2(b): Synchronized Motion Path in Playback Mode
Workpiece
P1
P2
Conveyor
P3 P4
P5
P7
Conveyor
moving
direction
P1
P2
P1
P2
P3
P1
P2
P3 P4
P1
P2
P3 P4
P5
P1
P2
P3 P4
P5
P1
P2
P3 P4
P5
P6
1
2
3
4
5
6
P7
P6
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1.2 Conveyor Synchronized Operation
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1.2.1 Conveyor Home-position Limit Switch
The conveyor home-position limit switch turns ON the conveyor home-
position input signal when a workpiece is detected by a sensor.
1.2.2 Conveyor Home-position Input Signal
When the conveyor home-position input signal is input, the conveyor
current value is automatically reset to 0 mm.
Then, the manipulator can enter synchronized operation status by
execution of SYSTART instruction.
1.2.3 SYSTART Instruction and Manipulator Motion
The SYSTART is a conveyor synchronized operation start instruction.
Format: SYSTART CV#(1) <STP= Synchronization start position
(units: mm)>
After having executed the SYSTART instruction, when the conveyor
reaches the position specified at STP as the synchronization start
position, the manipulator enters the synchronized operation status. Up to
this moment, the manipulator does not move.
When a workpiece reaches the position set as the synchronization start
position, the manipulator starts the synchronized operation.
Conveyor home-position
limit switch
Conveyor moving
direction
0 mm
STP
(The distance to the synchronization start point)
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1.2 Conveyor Synchronized Operation
Conveyor Synchronized
Function
If the SYSTART instruction is executed before the input of conveyor
home-position input signal, the manipulator waits until the conveyor home-
position input signal is input and the conveyor reaches the
synchronization start position, then starts the synchronized operation.
If the conveyor home-position input signal is input before the execution of
SYSTART instruction, the manipulator waits until the conveyor reaches
the synchronization start position, then enters in synchronized operation
status.
Job Manipulator Motion
MOVJ : Moves to Step 1
SYSTART CV#(1) STP=100.00 : Stops, and waits until the conveyor
reaches “STP = 100”.
SYMOVL : Moves to Step 2 in the conveyor
synchronized operation after the
conveyor position has come to 100
mm.
Conveyor
moving direction
Step 1
Conveyor home-position
limit switch
0 mm
100 mm
Step 2
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1 Conveyor Synchronized Function
1.3 Conveyor
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<Job Example>
A job example of conveyor synchronized operation is shown. Refer to
section 5.8 “Job Example” on page 5-18.
1.3 Conveyor
1.3.1 Conveyor Form
There are three types of the conveyor tracking motion: robot-axis tracking,
base-axis tracking, and circular tracking.
Each type must be set according to its system configuration (tracking
motion type).
0000 NOP
0001 SYEND CV#(1) Resets the conveyor home-position registration status
0002 MOVJMoves to the stand-by position near the conveyor
0003 SYSTART CV#(1) STP=100.000Conveyor synchronized operation starts.
0004 GETS B000 $B008
0005 JUMP *END IF B000=0
0006 SYMOVL CV#(1) CTP=50.000
0007 SYMOVL CV#(1) CTP=50.000
0008 SYMOVL CV#(1) CTP=50.000
0009 SYMOVL CV#(1) CTP=50.000
0010 *END
0011 SYEND CV#(1)Conveyor synchronized operation ends.
0012 MOVJReturns to the stand-by position
0013 END
Conveyor synchronized motion
(Linear interpolation)
Synchronized operation section
Linear form conveyor
Circular Tracking
Linear Tracking
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