YASKAWA MOTOMAN DX200 Instructions Manual

Also see for Motoman DX200: Instruction manual Instructions Instructions Setup procedure Instructions

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YASKAWA MOTOMAN DX200 Instructions Manual Manual pdf 46 page image

3 Teaching3.1 Registering Instructions3-4165553-1CDHW1482183Conveyor SynchronizedFunciton with ShiftFunctions3.1.2 SYEND Instruction FunctionThe SYEND instruction ends the conveyor synchronized control. Thesynchronized operation ends at the step where this instruction isregistered.Executing a SYEND clears the conveyor home-position data. When theconveyor home-position limit switch is ON after the conveyor home-position data is cleared, the conveyor home position data will be updated.Execution of this instruction after CVQUE instruction invalids the positiontable of the workpiece in case there is no following position data of theworkpiece.Without this instruction, the SYSTART instruction is terminated before theworkpiece passes the manipulator and the cursor may move to the nextinstruction.Register the SYEND instruction to the following places:• End step of the synchronization• Head of the synchronizing operation line• After the CVQUE instructionFor the details, refer to section 3.8 “Job Examples" on page 3-13. FormatConveyor condition file No. (CONVEYOR FILE)Set the conveyor condition file number to be used.Continuity attributeWithout ON signal from the conveyor home-position limit switch, theDX200 executes the SYSTART instruction and the manipulator startsthe follow-up motion when the conveyor current position reaches andpasses the synchronization start position. (Refer to section 3.1.1“SYSTART Instruction”) The manipulator stops while it waits for the startof the follow-up motion. Registering the SYEND InstructionSYEND CV#(1) CONT21Move the cursor to the line just above the place where a SYEND instruction is tobe registered Press [INFORM LIST] 1)  Select “SYEND”2)  Change theadditional items  Press [INSERT] and [ENTER]3)1 The instruction list dialog appears.2 The SYEND instruction is displayed in the input buffer line.3 The instruction displayed in the input buffer line is registered.46 of 98