8 Parameter
8.6 Parameters according to Coordinated or Synchronized Operation
8-44
149235-1CD
RE-CSO-A031
S3C809: MAXIMUM DEVIATION ANGLE OF CURRENT STATION
POSITION (When Twin Synchronous Function Used)
Used when the twin synchronous function is used. This parameter specifies the maximum deviation
between the teaching position and the current station position.
In the above figure on the left, the follower R2 executes the job of subtask 2 in synchronization with the
motion of the station axis which is moved by the R1 job. In this procedure, the job of subtask 2 controls
only the R2 robot axis.
If the teaching position of the station in the subtask 2 differs from the station current position (controlled
by the subtask 1 job), the difference is automatically offset so that R2 keeps the taught position in
relation to the station.
Difference between the taught and the station current positions is always monitored. If the difference
exceeds a set value of the parameter, the message “PULSE LIMIT (TWIN COORDINATED)” appears.
0 : No deviation check
Other than 0 : Deviation angle (units : 0.1°)
Station S1
R1 R2
Sub-task1 Sub-task2
Station
Manipulator at
synchronizing side
Position set when
teaching synchronizing side
Deviation made
at playback
Conpensation
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