YASKAWA Motoman DX200, Инструкция по эксплуатации

Страница: 47 / 98

3-5
165553-1CD
HW1482183
3 Teaching
3.1 Registering Instructions
Conveyor Synchronized
Funciton with Shift
Functions
3.1.3 SYMOV
□
Instruction
 Function
These move instructions executes the conveyor synchronized motion.
Except that the conveyor positions at the time of teaching are registered
as CTP (conveyor position at teaching), these instructions are same as
ordinary move instructions. Joint motion, linear interpolation, and circular
interpolation can be performed in the same way as the ordinary move
instructions.
When these instructions are used, the teaching method is different from
that with the ordinary move instructions. Refer to
section 3.1.5
“Interpolation Mode for Conveyor Synchronized Motion”
 Format
SYMOVJ VJ=50.00 CV#(1) CTP=100.000
SYMOVL V=200.00 CV#(1) CTP=100.000
SYMOVC V=200.00 CV#(1) CTP=100.000


Play speed
Set the manipulator motion speed in playback mode.

Conveyor condition file number
Set the conveyor condition file number to be used.

Conveyor position at teaching
Set the conveyor position at teaching.
NOTE
The conveyor synchronized motion can be suspended in
the middle of a job. To suspend the conveyor synchronized
motion, insert the SYEND instruction added with a tag
CONT (continuity attribute). The manipulator completes the
execution of the previous move instruction of the SYEND
instruction with a tag CONT, and stops to wait until the
conveyor current position value reaches the value set for
STP of the next SYSTART instruction. To wait until the
conveyor current position value reaches the value set in
STP for the SYSTART instruction moving the manipulator
with the follow-up control to the conveyor, keep the
SYSTART instruction executed without using the SYEND
instruction.
SYMOVJ
Conveyor synchronized joint
motion
SYMOVL
Conveyor synchronized linear
interpolation
SYMOVC
Conveyor synchronized circular
interpolation
47 of 98