YASKAWA Motoman DX200, Инструкция по эксплуатации

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4-1
165553-1CD
HW1482183
4 Playback
4.1 Conveyor Speed Down
Conveyor Synchronized
Funciton with Shift
Functions
4 Playback
4.1 Conveyor Speed Down
When the conveyor slows down while the manipulator moves in
synchronization with the conveyor, the manipulator will react according to
the mode setting in the conveyor condition file:
Fig. 4-1: Conveyor Condition File Display
• EXECUTE
Regardless of the conveyor speed, the manipulator continues
moving. When the conveyor stops, the manipulator motion is
synchronized with the conveyor speed “0.”
• ALARM
When the conveyor average speed remains below the set value in
“CONVEYOR LOWER LIMIT SPD” for 0.1 second, an alarm occurs
and the manipulator stops.
• PAUSE JOB
When the conveyor speed remains below the set value in
“CONVEYOR LOWER LIMIT SPD” for 0.1 second, the job execution
is interrupted (only the execution of move instructions in the job are
suppressed) and the manipulator continues only follow-up motion in
the conveyor moving direction. When the conveyor speed recovers
to the set value in “CONVEYOR LOWER LIMIT SPD” or higher, the
job execution restarts.
• PAUSE JOB AFTER APRAY OFF
When the conveyor average speed remains below the set value in
“CONVEYOR LOWER LIMIT SPD” for 0.1 second, the manipulator
executes the job up to the spray off instruction, and then executes
only the follow-up motion in the conveyor moving direction. When
the conveyor speed recovers to the “CONVEYOR LOWER LIMIT
SPD” or higher, the job execution restarts.
For the details of the above four modes, refer to
section 2.1 “Conveyor
Condition File" on page 2-1
.
NOTE
The specific output 51420 turns ON when the conveyor
slows down.
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