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 46 page image

5 Teaching5.1 Registering Instructions5-1165637-1CDHW1482181Conveyor SynchronizedFunction5 Teaching5.1 Registering InstructionsThe instructions can be registered when the cursor is in the address areaon the job content window in teach mode.1. Select {JOB} under the top menu.2. Select {JOB CONTENT}.3. Move the cursor to the address area.5.1.1 SYSTART Instruction5.1.1.1 FunctionThis instruction indicates the start of a conveyor synchronized operationsequence. The manipulator starts follow-up motion by a move instructionafter the SYSTART instruction, or TIMER or WAIT instruction.When this instruction is executed, the manipulator stops and waits untilthe conveyor current position value exceeds the synchronization startposition value. When it exceeds, the manipulator starts the synchronizedmotion.After the instruction is executed, if the encoder reset signal is OFF andremains OFF for the time specified for “Reset signal monitoring” in theconveyor condition file, the execution of instruction is skipped and thesucceeding instructions are executed. In this case, no synchronizationtakes place.When the SYSTART instruction is executed, if the conveyor currentposition value already exceeds the synchronization start position valueand the difference is within the tolerance (OL), the manipulator startsimmediately from the current position the synchronized motion.However, when the SYSTART instruction is executed, if the conveyorcurrent position value already exceeds the synchronization start positionvalue and the difference is greater than the tolerance (OL), execute thesucceeding instructions without synchronized operation resetting thesystem variable $B008 to 0. The system variable $B008 is 1 when theoperation has been normally completed.Addressarea InstructionInstructionareaareaInstructionareaInput buffer lineInput buffer lineInput buffer line46 of 86