4.5 Synchronizing with TSYNC
4-8
4.5
Synchronizing with TSYNC
During the execution of the jobs, a deviation between the movements of the two manipulators
may occur. In the steps where the movements of the two manipulators should be exactly the
same, execute a TSYNC instruction immediately before these steps.
When a TSYNC instruction is executed in one of the robot jobs, the manipulator waits until the
same synchronized signal, TSYNC, is executed in the other robot job. Set the number of syn-
chronized tasks. When setting “SYNCHRO NUM” to “UNUSED,” the number of tasks is the
same as when “SNUM=2.”
Format
Operation
Explanation
1
Move the cursor to the line just
above the line where TSYNC
instruction is to be registered.
2
Press [INFORM LIST].
The instruction list appears.
3
Select “TSYNC.”
A TSYNC instruction is displayed in the input buffer line.
4
Change additional items.
<To register items as displayed in the input buffer line>
Proceed to Operation 5
.
TSYNC
Synchronization
No. 1 to 32
Number of
synchronized
tasks 2 or 4
IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SHIFT
OTHER
SAME
PRIOR
JUMP
CALL
TIMER
LABEL
COMMENT
RET
PSTART
TSYNC
PWAIT
TSYNC
1
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