8-48
155507-1CD
RE-CSO-A037
DX100
8 Parameter
8.6 Parameters according to Coordinated or Synchronized Operation
8.6.0.9 S2C687: OPERATION OF JOB WITHOUT CONTROL GROUP
SPECIFICATION
When the servo power supply is individually turned OFF where jobs in
multiple number of tasks are operated using the independent control
function, the job execution of the control group whose servo power supply
is turned OFF is interrupted. The jobs of other control groups continue
their execution.
For the jobs without control group specification such as master job, the
conditions for execution can be set by the parameter.
8.6.0.10 S2C688:
EXECUTION OF “BWD” OPERATION
This parameter prohibits step-back operation of a job without a step.
8.6.0.11 S3C1101:
MAXIMUM
DEVIATION ANGLE OF CURRENT STATION
POSITION (When Twin Synchronous Function Used)
Used when the twin synchronous function is used. This parameter
specifies the maximum deviation between the teaching position and the
current station position.
In the above figure on the left, the follower R2 executes the job of subtask
2 in synchronization with the motion of the station axis which is moved by
the R1 job. In this procedure, the job of subtask 2 controls only the R2
robot axis.
If the teaching position of the station in the subtask 2 differs from the
station current position (controlled by the subtask 1 job), the difference is
automatically offset so that R2 keeps the taught position in relation to the
station.
Difference between the taught and the station current positions is always
monitored. If the difference exceeds a set value of the parameter, the
message “PULSE LIMIT (TWIN COORDINATED)” appears.
0
: Execution possible only when servo power supply to all the axes have
been turned ON.
1
: Execution possible when servo power supply to any axis is turned ON.
d7
d0
"BWD" operation for a job without a group axis. 0: Enabled 1: Disabled
"BWD" operation for concurrent job. 0: Enabled 1: Disabled
0
: No deviation check
Other than 0 : Deviation angle (units : 0.1
)
Station S1
R1
R2
Sub-task1
Sub-task2
Station
Manipulator at
synchronizing side
Position set when
teaching synchronizing side
Deviation made
at playback
Conpensation
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