YASKAWA Motoman DX200, Инструкция по эксплуатации

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3 Teaching
3.7 Notes on Operation
3-12
165553-1CD
HW1482183
Conveyor Synchronized
Funciton with Shift
Functions
3.7 Notes on Operation
The conveyor synchronized move instructions are special instructions to
register the conveyor positions together with the manipulator positions.
Therefore, the conveyor synchronized move instructions are different from
standard move instructions such as MOVJ, and these instructions have
the following restrictions on operations.
3.7.1 Confirming Reach to Step
When the manipulator reaches the target step in FWD/BWD operation or
test run (step motion mode), the operation is stopped and the cursor stops
blinking. In this way, it can be easily confirmed that the manipulator
reaches the target step.
3.7.2 Changing Tool
The first FWD operation of the SYMOV  after changing a tool should be
performed on the conveyor position at changing a tool.
Performing the FWD operation after changing a tool and moving the
conveyor causes a segment over alarm.
3.7.3 Deleting Taught Positions
Before deleting a move instruction, the manipulator must be placed at the
step position to be deleted. However, this condition cannot be satisfied
with conveyor synchronized motion move instructions. This is because a
taught position for a conveyor synchronized motion move instruction is
interpreted to different step positions on the conveyor position, as
explained before. Therefore, ordinary deleting operation is not possible.
To delete a conveyor synchronized move instruction, press [MODIFY] to
change the step position.
Then, after the cursor blinks, press [DELETE].
3.7.4 Manipulator Stand-by Position for the SYSTART Instruction
The manipulator’s stand-by position for the SYSTART instruction should
be same as the manipulator’s position for a move instruction for the
conveyor synchronized motion (SYMOV
 ) after the SYSTART instruction.
If these two positions are different, the manipulator may not be on the
taught position to start moving because the DX200 executes the move
instruction for the conveyor synchronized motion immediately after the
synchronization starts.
NOTE
When the manipulator reaches the target step, the cursor
stops blinking. However, when the following operations are
performed, the cursor restarts blinking. In this case, move
the cursor to the target step and perform FWD operation
again.
• Emergency stop
• The cursor movement in editing job
• File and job editing operation
• Jog operation
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