Restarting Synchronization After Manipulator Stops; Continuance Of Conveyor Synchronized Status; Continuance Of Parallel Shift Status; Conveyor Synchronized Motion During Execution Of Timer And Wait - YASKAWA MOTOMAN DX200 Instructions Manual

165553-1CD
Conveyor Synchronized
Funciton with Shift
Functions
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4.5
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4.4 Restarting Synchronization After Manipulator Stops

Restarting Synchronization After Manipulator Stops
When a manipulator stops during the synchronized operation in the
following cases, the manipulator restarts the synchronized motion when
the operation is restarted.
• At occurrence of minor failure alarm (excluding occurrence of alarm
related 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 teach
mode)
• By switching the operation cycle (switching among Auto/1 cycle/
Step)

Continuance of Conveyor Synchronized Status

The conveyor synchronized status started by SYSTART instruction
remains until SYEND instruction is executed or the control power supply is
turned OFF. Even if a manipulator stops in the cases explained in the
previous 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 is
called, or a job selection is made.

Continuance of Parallel Shift Status

The parallel shift status in the conveyor synchronized status continues
even after a manipulator stops in the cases explained in the previous
section. However, the parallel shift status is cleared in the following
cases. Be careful when using the parallel shift function in combination
with 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.
Conveyor Synchronized Motion During Execution of
TIMER and WAIT
While a manipulator is in waiting status by execution of TIMER, WAIT, etc.
the manipulator continues the conveyor synchronized motion.
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