6 Instruction List
6-1
165553-1CD
HW1482183
Conveyor Synchronized
Funciton with Shift
Functions
6 Instruction List
The instructions used for the conveyor synchronized control with shift
functions are listed below. The numerical data to be set is explained in
< >.
SYSTART Function Starts the conveyor synchronized operation.
Additional
items
CV# (<Conveyor condition file>) 1 to 3
STP=<Synchronization start position in mm>
OL=<Tolerance in mm> When omitted or 0 is set,
the tolerance check is not
executed.
Example SYSTART CV#(1) STP=100.00
SYMOVJ
1)
Function Moves the manipulator in joint interpolation in synchronization with the
conveyor.
Additional
items
CV# (<Conveyor condition file>) 1 to 3
CTP= <Conveyor position at teaching in mm>
VJ= <Play speed in percentage>
Example SYMOVJ VJ=50.00 CV#(1) CTP=100.00
SYMOVL Function Moves the manipulator in linear interpolation in synchronization with the
conveyor.
Additional
items
CV# (<Conveyor condition file>) 1 to 3
CTP= <Conveyor position at teaching in mm>
V= <Play speed>
Example SYMOVL V=200.0 CV#(1) CTP=100.00
SYMOVC Function Moves the manipulator in circular interpolation in synchronization with the
conveyor.
Additional
items
CV# (<Conveyor condition file>) 1 to 3
CTP= <Conveyor position at teaching in mm>
V= <Play speed>
Example SYMOVC V=200.0 CV#(1) CTP=100.00
SYEND Function Ends the conveyor synchronized operation.
Additional
items
CV# (<Conveyor condition file>) 1 to 3
CONT CONT (continuity attribute)
may be omitted.
Example SYEND CV#(1)
CVQUE Function Switches the workpiece for synchronization to the next workpiece.
Additional
items
CV# (<Conveyor condition file>) 1 to 3
Example CVQUE
GETCVSFT
2)
Function Gets the synchronizable queue information.
Additional
items
CV# (<Conveyor condition file>) 1 to 3
QUENO= <Queue number> 1 to 99
3)
WKKIND <WORK ID information storage location>
WKEXIST <WORK IN/NOT information storage
location>
RESULT <Execution result storage location>
Example GETCVSFT CV#(1) QUENO=1 WKKIND I000 WKEXIST I001 RESULT B000
1 SYMOVJ can be used only when the base axis is used for synchronization.
2 GETCVSFT can be used on new models shipped with version DN1.60-00 or later.
3 Queue number 1 indicates the oldest data existing in the queue. Queue number 2 indicates the second
oldest data. For example, when GETCVSFT instruction is executed with specifying the queue number 2
while synchronizing, the next reference queue information for synchronization can be obtained.
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