3-13
165553-1CD
HW1482183
3Teaching
3.8 Job Examples
Conveyor Synchronized
Funciton with Shift
Functions
3.8 Job Examples
3.8.1 Job Example for the Conveyor Synchronized Function without Shift
Functions
An example of the job without using the start shift is given below. Use this
example as the basic programming for application to various system.
Set “NOT USED” for START SHIFT, WORK ID. SHIFT, and WORK IN/
NOT SHIFT of the CONVEYOR COND SUPP. file.
Instruction Description
0000 NOP
0001 SYEND CV#(1) Resets the registered status of the conveyor’s home
position.
The conveyor home-position limit switch becomes valid.
0002 MOVJ VJ=50.00 Starts the job and moves the manipulator to the stand-by
position.
0003 SYSTART CV#(1) STP=100.000 Conveyor synchronization start instruction
When the conveyor reaches the specified position, the
conveyor synchronized control starts.
0004 0004 GETS B000 $B008 The system variable to indicate whether the
synchronization has started normally or not
The contents of $B008 is copied to B000:
Synchronization started normally if B000=1, and an error
occurred if B000=0
0005 JUMP *END IF B000=0 If B000=0 (the synchronization did not start normally),
jumps to the label [*END].
0006 SYMOVL CV#(1) CTP=50.000 Move instruction for the conveyor synchronized motion
0007 : The manipulator moves in synchronization with the
conveyor.
0008 SYMOVL CV#(1) CTP=50.000
0009 *END Jumps here if the conveyor synchronization did not start
normally.
0010 SYEND CV#(1) Ends the synchronization.
0011 CVQUE CV#(1) Switches the reference workpiece for synchronization.
0012 SYEND CV#(1) The position table of the workpiece becomes invalid in
case there is no following position data of the workpiece.
0013 MOVJ V=50.00 Returns the manipulator to the stand-by position and ends
the job.
0014 END
• Do not insert the instructions “MOVJ,” “MOVL,” “MOVC,”
“MOVS,” or “IMOV” during the conveyor synchronization
(from the SYSTART instruction to the SYEND instruction).
The manipulator may not be able to move depending on
the manipulator’s posture in synchronization with the
conveyor immediately before the execution of these
instructions (move instruction status for the conveyor
synchronization).
• After the SYEND instruction, insert the CVQUE instruction
before the next SYSTART instruction whether the Start
Shift function is used or not.
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