Nachi EZ-CFDL Series, Instruction Manual

Page: 72 / 84

7.3 Supplemental items
7.3.4 What is the “Operation standard mechanism”?
The “Operation standard mechanism” is the mechanism that is regarded as the position reference
mechanism (Master mechanism) while executing the synchromotion. The other mechanisms (Slave
mechanisms) in the same UNIT will be controlled by following the motion of the master mechanism.
See the following instruction manual also.
“FD CONTROLLER INSTRUCTION MANUAL : SYNCHROMOTION CONTROL” (TFDEN-024)
7.3.5 What is the “Speed standard mechanism”?
The “Speed standard mechanism” is the mechanism that is regarded as the speed reference
mechanism. When executing the Program Playback operation, the all other mechanism will move by
referring to the motion speed of the Speed Standard mechanism.
For example, if the UNIT have a 6-axes robot (M1) and a 1 axis positioner (M2), and the robot is selected
as the Speed Standard Mechanism, it is necessary to teach the motion speed of the robot. When playing
back the teaching program, the positioner will synchronize with the motion speed of the robot (start with the
robot and stop with the robot).
When the positioner is selected as the Speed Standard Mechanism, it is necessary to teach the motion
speed of the positioner. When playing back the teaching program, the robot will synchronize with the motion
speed of the positioner (start with the positioner and stop with the positioner).
In case of (robot + positioner), the robot should be set as the Speed Standard Mechanism.
See the following instruction manual also.
“FD CONTROLLER INSTRUCTION MANUAL : SYNCHROMOTION CONTROL” (TFDEN-024)