9 Turntable Synchronized Function9.1 Setting Up the Turntable Synchronized System9-1165637-1CDHW1482181Conveyor SynchronizedFunction9 Turntable Synchronized FunctionFunctional OverviewThis function enables interpolation motion of the manipulator,synchronized with circular conveyor and turntable.9.1 Setting Up the Turntable Synchronized System9.1.1 Settings for Conveyor Condition FileTo use this function, set the TRACKING () in CONVEYOR COND FILEwindow to "CIRCULAR". (Use a cursor key to scroll the window.) TRACKING (ROBOT-AXIS/BASE-AXIS/CIRCULAR)CIRCULAR: specify CIRCULAR for turntable synchronized function.If CIRCULAR is specified, the manipulator performs a circular trackingoperation in accordance with a result of calibration executed in section9.1.2 "Calibration between Manipulator and Turntable” on page 9-2. USER COORD NO. (1 to 63)Specify the user coordinate number to store the result of calibration(relative position of the turntable). POS RESOLUTION (1 to 2147483647 pulse/rev)Set a pulse count from encoder per turntable revolution. If the turntablepositional resolution is unknown, use the data calculated in thecalibration. VIRTUAL CV SPEED (-32767 to +32767 pulse/sec) CV LOWER LIMIT SPEED (0 to 65535 pulse/sec)Input unit changes to "mm/sec" to "p/sec" by setting the tracking method(item ) to CIRCULAR.72 of 86
