YASKAWA Motoman DX200 - Page 14

Table of Contents
xiv
165553-1CD
HW1482183
Conveyor Synchronized
Funciton with Shift
Functions
3.1.4 CVQUE Instruction ............................................................................................... 3-6
3.1.5 Interpolation Mode for Conveyor Synchronized Motion........................................ 3-7
3.2 Manipulator Motion Speed................................................................................................. 3-8
3.3 Wrist Posture in Conveyor Synchronized Section ............................................................. 3-8
3.4 Changing Circular Steps....................................................................................................3-8
3.5 Teaching ............................................................................................................................ 3-9
3.6 Teaching After Interruption of Synchronized Motion in Playback Operation.................... 3-11
3.7 Notes on Operation..........................................................................................................3-12
3.7.1 Confirming Reach to Step................................................................................... 3-12
3.7.2 Changing Tool .................................................................................................... 3-12
3.7.3 Deleting Taught Positions................................................................................... 3-12
3.7.4 Manipulator Stand-by Position for the SYSTART Instruction ............................. 3-12
3.8 Job Examples ..................................................................................................................3-13
3.8.1 Job Example for the Conveyor Synchronized Function
without Shift Functions ....................................................................................... 3-13
3.8.2 Job Example when Using the Start Shift Function.............................................. 3-14
3.8.3 Job Example Using the Start Shift, WORK ID Shift, and WORK IN/NOT
Shift Functions (Shipment Before DN1.60-00) ...................................................3-16
3.8.4 Job Example Using the Start Shift, WORK ID Shift, and WORK IN/NOT
Shift Functions (New Shipment at DN1.60-00 or Later) ..................................... 3-19
3.9 Manual Setting Function for Conveyor Position............................................................... 3-20
3.9.1 Manual Setting Procedure for the Conveyor Position......................................... 3-21
3.9.2 Precautions......................................................................................................... 3-21
3.10 Test Run without Moving the Conveyor......................................................................... 3-22
3.11 Manual Setting Function for Pseudo ON of the Conveyor Home-position
Limit Switch....................................................................................................................3-24
4 Playback.......................................................................................................................................... 4-1
4.1 Conveyor Speed Down ......................................................................................................4-1
4.2 Accuracy ............................................................................................................................ 4-2
4.3 Conveyor Resolution Error.................................................................................................4-2
4.4 Restarting Synchronization After Manipulator Stops .........................................................4-3
4.5 Continuance of Conveyor Synchronized Status ................................................................ 4-3
4.6 Continuance of Parallel Shift Status ..................................................................................4-3
4.7 Conveyor Synchronized Motion During Execution of TIMER and WAIT ........................... 4-3
4.8 Detection of the Position beyond the Specified Maximum-workpiece-position.................. 4-4
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