YASKAWA NX100 Instructions Manual

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YASKAWA NX100 Instructions Manual Manual pdf 65 page image

6 Playback6-3174074-1CDHW04827116.4 Restarting Synchronization After ManipulatorStopsWhen a manipulator stops during the conveyor synchronized operation in the following cases, thesynchronized operation is restarted by restarting the manipulator:• Minor failure alarm (excluding occurrence of alarm related to the conveyor synchronizedfunction)• Emergency stop or external emergency stop• Hold or external hold• Switch of the mode (mode switching between play and teach mode)• Switch of the operation cycle (switching among auto/ 1 cycle/ step)6.5 Continuance of Conveyor Synchronized StatusThe conveyor synchronized status started by execution of SYSTART instruction remains until SYENDinstruction is executed or the control power supply is turned OFF. Even if a manipulator stops in thecases explained in the previous section, the conveyor synchronized status remains.Note that conveyor synchronized status is cancelled when a job is executed after the cursor is moved inteach mode, the master job is called or a job selection is made.6.6 Continuance of Parallel Shift StatusThe parallel shift status in the conveyor synchronized status continues even after a manipulator stops inthe cases explained in the previous section. However, the parallel shift status is cleared in the followingcases. Be careful when using the parallel shift function in combination with the conveyor synchronizedfunction.• 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.6.7 Conveyor Synchronized Operation DuringExecution of TIMER and WAITWhile the manipulator is in waiting status by execution of TIMER, WAIT, and so forth, the conveyorsynchronized operation continues.65 of 86