YASKAWA MOTOMAN DX200 Instructions Manual

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

Contents

YASKAWA MOTOMAN DX200 Instructions Manual Manual pdf 48 page image

3 Teaching3.1 Registering Instructions3-6165553-1CDHW1482183Conveyor SynchronizedFunciton with ShiftFunctions Precautions on Executing the SYMOVJ InstructionThe SYMOVJ instruction calculates the orbit based on the conveyorspeed when beginning to operate. The robot operation changesaccording to the conveyor speed changes to maintain a relative position ofrobot and conveyor (work) positions. The robot operation stops, too,when the conveyor stops.When the conveyor speed goes up again, therobot operation is restarted.During the synchronized operation with the conveyor, three axes of themanipulator wrist may move faster than the set play-speed regardless ofthe conveyor moving direction. Therefore, set approximately 70%maximum of the actual play-speed for the SYMOVJ instruction. However,even if the play speed for the SYMOVJ instruction is set lower than 70%,the wrist may not be able to move depending on the conveyor speed orthe manipulator’s wrist posture. In such a case, reset the play speedlower.3.1.4 CVQUE Instruction FunctionThe CVQUE instruction switches the conveyor position data, which isused for the conveyor synchronized motion, to the position data of thenext workpiece. If the next workpiece information is not set in the shifttable, the CVQUE instruction is ignored.I f the CVQUE instruction is executed after the end of conveyorsynchronized motion for the workpiece 1, the conveyor position dataswitches to the position data for the workpiece 2.Register the SYEND instruction after this instruction,Execution of the SYEND instruction after this instruction invalids theposition table of the workpiece in case there is no following position dataof the workpiece.Without this instruction, the SYSTART instruction is terminated before theworkpiece passes the manipulator and the cursor may move to the nextinstruction.Manipulator start positionConveyor moving direction3Manipulator21Conveyor synchronized section48 of 98