YASKAWA Motoman DX200 User manual

MANUAL NO.
HW1482183
Part Number: 165553-1CD
Revision: 3
3
DX200 OPTIONS
INSTRUCTIONS
FOR CONVEYOR SYNCHRONIZED FUNCTION WITH SHIFT FUNCTIONS
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 synchronized-to-conveyor control with
shift functions of the DX200 system for teaching, playback, editing
of jobs and files, and management of each operation. 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 Setup Manual 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
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Functions
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
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Functions
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:
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
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Description of the Operation Procedure
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Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
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 [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.
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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Safeguarding Tips
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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
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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
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Customer Support Information
If you need assistance with any aspect of your Conveyor Synchronized
Funciton with Shift Functions 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:
[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 Funciton
with Shift Functions
• 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 with Shift Functions................................................................... 1-1
1.1 Conveyor Synchronized Function with Shift Functions...................................................... 1-1
1.2 Start Shift Function ............................................................................................................ 1-2
1.3 WORK ID Shift Function ....................................................................................................1-3
1.4 WORK IN/NOT Shift Function ........................................................................................... 1-4
1.5 Precautions on Using Conveyor Synchronized Function with Shift Functions .................. 1-5
2 Conveyor Condition File.................................................................................................................. 2-1
2.1 Conveyor Condition File .................................................................................................... 2-1
2.2 Editing Conveyor Condition File ........................................................................................ 2-6
2.2.1 Display the Conveyor Condition File .................................................................... 2-6
2.2.2 Edit the Conveyor Condition File.......................................................................... 2-6
2.3 Setting Conveyor Resolution ............................................................................................. 2-8
2.4 Detection Function for BROKEN LINE DETECT Status (Conveyor Pulse) ....................... 2-9
2.5 Conveyor Supplemental Condition File ........................................................................... 2-10
2.6 Start Shift Condition File.................................................................................................. 2-11
2.7 Editing the Start Shift Condition File ................................................................................ 2-14
2.7.1 Display of the Start Shift Condition File .............................................................. 2-14
2.7.2 Editing the Start Shift Condition File................................................................... 2-14
2.8 WORK ID SHIFT Condition File....................................................................................... 2-15
2.9 Editing the WORK ID SHIFT Condition File..................................................................... 2-18
2.9.1 Display the WORK ID SHIFT Condition File....................................................... 2-18
2.9.2 Edit the WORK ID SHIFT Condition File ............................................................ 2-18
2.10 WORK IN/NOT SHIFT Condition File ............................................................................ 2-19
2.11 Editing the WORK IN/NOT SHIFT Condition File .......................................................... 2-22
2.11.1 Display the WORK IN/NOT SHIFT Condition File ............................................ 2-22
2.11.2 Edit the WORK IN/NOT SHIFT Condition File.................................................. 2-22
3 Teaching ......................................................................................................................................... 3-1
3.1 Registering Instructions ..................................................................................................... 3-1
3.1.1 SYSTART Instruction ........................................................................................... 3-1
3.1.2 SYEND Instruction................................................................................................ 3-4
3.1.3 SYMOV □Instruction............................................................................................ 3-5
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3.1.4 CVQUE Instruction ...............................................................................................3-6
3.1.5 Interpolation Mode for Conveyor Synchronized Motion........................................ 3-7
3.2 Manipulator Motion Speed................................................................................................. 3-8
3.3 Wrist Posture in Conveyor Synchronized Section ............................................................. 3-8
3.4 Changing Circular Steps.................................................................................................... 3-8
3.5 Teaching ............................................................................................................................ 3-9
3.6 Teaching After Interruption of Synchronized Motion in Playback Operation.................... 3-11
3.7 Notes on Operation..........................................................................................................3-12
3.7.1 Confirming Reach to Step................................................................................... 3-12
3.7.2 Changing Tool .................................................................................................... 3-12
3.7.3 Deleting Taught Positions................................................................................... 3-12
3.7.4 Manipulator Stand-by Position for the SYSTART Instruction ............................. 3-12
3.8 Job Examples .................................................................................................................. 3-13
3.8.1 Job Example for the Conveyor Synchronized Function
without Shift Functions ....................................................................................... 3-13
3.8.2 Job Example when Using the Start Shift Function.............................................. 3-14
3.8.3 Job Example Using the Start Shift, WORK ID Shift, and WORK IN/NOT
Shift Functions (Shipment Before DN1.60-00) ................................................... 3-16
3.8.4 Job Example Using the Start Shift, WORK ID Shift, and WORK IN/NOT
Shift Functions (New Shipment at DN1.60-00 or Later) ..................................... 3-19
3.9 Manual Setting Function for Conveyor Position............................................................... 3-20
3.9.1 Manual Setting Procedure for the Conveyor Position......................................... 3-21
3.9.2 Precautions......................................................................................................... 3-21
3.10 Test Run without Moving the Conveyor......................................................................... 3-22
3.11 Manual Setting Function for Pseudo ON of the Conveyor Home-position
Limit Switch.................................................................................................................... 3-24
4 Playback.......................................................................................................................................... 4-1
4.1 Conveyor Speed Down...................................................................................................... 4-1
4.2 Accuracy ............................................................................................................................ 4-2
4.3 Conveyor Resolution Error.................................................................................................4-2
4.4 Restarting Synchronization After Manipulator Stops ......................................................... 4-3
4.5 Continuance of Conveyor Synchronized Status ................................................................ 4-3
4.6 Continuance of Parallel Shift Status .................................................................................. 4-3
4.7 Conveyor Synchronized Motion During Execution of TIMER and WAIT ...........................4-3
4.8 Detection of the Position beyond the Specified Maximum-workpiece-position.................. 4-4
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5 Conveyor Monitoring Displays for the Shift Functions .................................................................... 5-1
5.1 CV (SYNCHRONIZATION) MONITOR Display................................................................. 5-2
5.1.1 Switching the Reference Workpiece for Synchronization..................................... 5-3
5.1.2 Deleting a Data of Conveyor Synchronized Section............................................. 5-5
5.1.3 Deleting the Shift Data and the Data of Conveyor Synchronized Section............ 5-6
5.2 CV START SHIFT STATUS Display.................................................................................. 5-7
5.2.1 Deleting a Conveyor Start Shift Data.................................................................... 5-8
5.2.2 Deleting the Shift Data and the Data of Conveyor Synchronized Section............ 5-9
5.3 CV WORK ID SHIFT STATUS Display............................................................................ 5-10
5.3.1 Deleting a Conveyor WORK ID Shift Data ......................................................... 5-11
5.3.2 Deleting the Shift Data and the Data of Conveyor Synchronized Section.......... 5-12
5.4 CV WORK IN/NOT SHIFT STATUS Display ................................................................... 5-13
5.4.1 Deleting a Conveyor WORK IN/NOT Shift Data................................................. 5-14
5.5 CV SHIFT MONITOR display .......................................................................................... 5-15
5.5.1 Switching the Reference Workpiece for Synchronization................................... 5-16
5.5.2 Deleting a Data of Conveyor Synchronized Section........................................... 5-17
5.5.3 Deleting a Data of Conveyor Shift Section ......................................................... 5-18
5.5.4 Deleting the Shift Data and the Data of Conveyor Synchronized Section.......... 5-19
6 Instruction List................................................................................................................................. 6-1
7 Alarm List........................................................................................................................................ 7-1
8 Specific I/O Signals......................................................................................................................... 8-1
8.1 Specific Input Signals “4xxxx”............................................................................................8-1
8.2 Specific Output Signals “5xxxx” ......................................................................................... 8-1
9 Conveyor Parameters..................................................................................................................... 9-1
10 Sensor Parameters (SxE) ........................................................................................................... 10-1
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1.1 Conveyor Synchronized Function with Shift Functions
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1 Conveyor Synchronized Function with Shift Functions
1.1 Conveyor Synchronized Function with Shift Functions
In the conveyor synchronized function of the position tracking type, the
taught motion path of the manipulator is corrected according to the
conveyor travel amount so that the manipulator performs follow-up motion
in the conveyor moving direction at a constant relative speed to the
workpiece.
There are two conveyor synchronized function types:
Manipulator follow-up control: The manipulator’s basic axis moves in
synchronization with the conveyor movement.
Travel-axis follow-up control: A travel axis (external axis) moves in
synchronization with the conveyor movement.
When the conveyor synchronized function is used with “shift functions,” it
is useful for a situation where the conveyor home-position limit switch, the
workpiece identification detecting limit switch (WORK ID detecting limit
switch), and the workpiece detecting limit switch (WORK IN/ NOT
detecting limit switch) cannot be installed near the manipulator. Using the
conveyor synchronized function with shift functions, the information of all
the workpieces that pass all the limit switches to reach the synchronization
start position of the manipulator can be managed.
And then, when a workpiece reaches the manipulator start position, the
corresponding job is started so that the manipulator can start the job in
synchronization with the conveyor.
In such operation flow, the section from each limit switch to the
manipulator start position is defined as “shift section,” and the section from
the manipulator start position to the synchronization start position of the
manipulator is defined as “synchronized section.”
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1.2 Start Shift Function
Conveyor Synchronized
Funciton with Shift
Functions
1.2 Start Shift Function
When the conveyor home-position limit switch is not installed near the
manipulator, the second workpiece may pass the conveyor home-position
limit switch before the first workpiece, which passed the conveyor home-
position limit switch, enters the conveyor synchronized section.
The DX200 manages the position information of all the workpieces that
passed the conveyor home-position limit switch, and starts the job
programmed for each workpiece when the corresponding workpiece
reaches the manipulator start position so that the manipulator executes
the job in the follow-up motion to the conveyor.
For the above control, the start shift function manages up to 99 workpiece
position data from the conveyor home-position limit switch to the reference
workpiece for synchronization start.
Manipulator start position
Conveyor moving direction
Conveyor home-
position limit switch
2 31
Manipulator
00
Conveyor synchronized section
DX200
Start shift distance
Reference workpiece
for synchronization
start
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1.3 WORK ID Shift Function
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1.3 WORK ID Shift Function
When the workpieces are conveyed sequentially and the WORK ID
detecting limit switch is turned ON, the DX200 reads the WORK ID of
each workpiece by the predefined general-purpose input signal.
When the WORK ID detecting limit switch is not installed near the
manipulator, the second workpiece may pass the WORK ID detecting limit
switch before the first workpiece, which passed the WORK ID detecting
limit switch, enters the conveyor synchronized section.
The DX200 manages the WOKD ID information of all the workpieces that
passed the WORK ID detecting limit switch, and starts the job
programmed for each workpiece when the corresponding workpiece
reaches the manipulator start position so that the manipulator executes
the job in the follow-up motion to the conveyor.
For the above control, the WORK ID shift function manages the WORK ID
information up to 99 workpieces in the section from the WORK ID
detecting limit switch to the reference workpiece for synchronization start.
• Setting image of the shipment before DN1.60-00
• Setting image of the new shipment at DN1.60-00 or later
Manipulator start position
Conveyor moving direction WORK ID detecting
limit switch
2 31
Manipulator
00
Conveyor synchronized section
DX200
WORK ID shift distance
Start shift distance
Reference
workpiece for
synchronization
start
Manipulator start position
Conveyor moving direction WORK ID detecting
limit switch
2 31
Manipulator
00
Conveyor synchronized section
DX200
WORK ID shift distance
Start shift distance
Reference
workpiece for
synchronization
start
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1.4 WORK IN/NOT Shift Function
Conveyor Synchronized
Funciton with Shift
Functions
1.4 WORK IN/NOT Shift Function
In the system that workpieces are conveyed in skits, the WORK IN/NOT
detecting limit switch is activated when a skit passes, and the DX200
reads whether a workpiece is in or not from the predefined general-
purpose input signal.
When the WORK IN/NOT detecting limit switch is not installed near the
manipulator, the second workpiece may pass the WORK IN/NOT
detecting limit switch before the first workpiece, which passed the WORK
ID detecting limit switch, enters the conveyor synchronized section.
The DX200 manages the WORK IN/NOT information obtained through the
WORK IN/NOT detecting limit switch. When the DX200 receives the
information that a workpiece is in the skit, the DX200 starts the job for the
workpiece to move the manipulator in synchronization with the conveyor.
For the above control, the WORK IN/NOT shift function manages up to 99
skit data in the section from the WORK IN/NOT detecting limit switch to
the reference workpiece for synchronization start.
• Setting image of the shipment before DN1.60-00
• Setting image of the new shipment at DN1.60-00 or later
Manipulator start position
Conveyor moving direction WORK IN/NOT
detecting limit switch
2 3100
Conveyor synchronized section
DX200
Reference workpiece for
synchronization start
WORK IN/NOT shift distance
Start shift distance
Manipulator start position
Conveyor moving direction WORK IN/NOT
detecting limit switch
2 3100
Conveyor synchronized section
DX200
Reference workpiece for
synchronization start
WORK IN/NOT shift distance
Start shift distance
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1 Conveyor Synchronized Function with Shift Functions
1.5 Precautions on Using Conveyor Synchronized Function with Shift
Functions
1-5
165553-1CD
HW1482183
Conveyor Synchronized
Funciton with Shift
Functions
1.5 Precautions on Using Conveyor Synchronized Function
with Shift Functions
With the conveyor synchronized function with shift functions, the shift data
such as Start Shift, WORK ID, and WORK IN/NOT in the synchronized
section and shift section are all erased when the power is OFF. Take this
into account when activating the function after the power is ON.
When all the shift functions such as Start Shift function, WORK ID Shift
function, and WORK IN/NOT Shift function are disabled (set to “NOT
USED”), the DX200 operates in the same way as the operation with the
basic conveyor synchronized function without shift functions. However,
the job preparing method is different from the conveyor synchronized
function without shift functions. Refer to section 3.8.1 “Job Example for
the Conveyor Synchronized Function without Shift Functions” to prepare a
job. Refer to “DX200 OPTIONS INSTRUCTIONS FOR CONVEYOR
SYNCHRONIZED FUNCTION” for the basic conveyor synchronized
function.
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