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 69 page image

4-3165553-1CDHW14821834 Playback4.4 Restarting Synchronization After Manipulator StopsConveyor SynchronizedFunciton with ShiftFunctions4.4 Restarting Synchronization After Manipulator StopsWhen a manipulator stops during the synchronized operation in thefollowing cases, the manipulator restarts the synchronized motion whenthe operation is restarted.• At occurrence of minor failure alarm (excluding occurrence of alarmrelated to the conveyor synchronized control)• At emergency stop or external emergency stop• By hold or external hold• By switching the mode (mode switching between play and teachmode)• By switching the operation cycle (switching among Auto/1 cycle/Step)4.5 Continuance of Conveyor Synchronized StatusThe conveyor synchronized status started by SYSTART instructionremains until SYEND instruction is executed or the control power supply isturned OFF. Even if a manipulator stops in the cases explained in theprevious section, the conveyor synchronized status remains.Note that a manipulator performs the synchronized motion by SYMOVinstruction even if the cursor is moved in teach mode, the master job iscalled, or a job selection is made.4.6 Continuance of Parallel Shift StatusThe parallel shift status in the conveyor synchronized status continueseven after a manipulator stops in the cases explained in the previoussection. However, the parallel shift status is cleared in the followingcases. Be careful when using the parallel shift function in combinationwith the conveyor synchronized control.• Execution of SFTOF instruction• The cursor is moved in teach mode.• The master job is called.• Job selection• The main power supply is shut down.4.7 Conveyor Synchronized Motion During Execution ofTIMER and WAITWhile a manipulator is in waiting status by execution of TIMER, WAIT, etc.the manipulator continues the conveyor synchronized motion.69 of 98