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

Conveyor Synchronized
Function
6.4
6.5
6.6
6.7
6 Playback

6.4 Restarting Synchronization After Manipulator Stops

Restarting Synchronization After Manipulator Stops
When a manipulator stops during the conveyor synchronized operation in
the following cases, the synchronized operation is restarted by restarting
the manipulator:
• Minor failure alarm (excluding occurrence of alarm related to the
conveyor synchronized function)
• 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)

Continuance of Conveyor Synchronized Status

The conveyor synchronized status started by execution of 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 conveyor synchronized status is cancelled when a job is
executed after 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 function.
• 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 Operation During Execution of
TIMER and WAIT
While the manipulator is in waiting status by execution of TIMER, WAIT,
and so forth, the conveyor synchronized operation continues.
6-3
165637-1CD
HW1482181
66 of 86