YASKAWA NX100 Operator's Manual page 333

149235-1CD
 S3C809: MAXIMUM DEVIATION ANGLE OF CURRENT STATION
POSITION (When Twin Synchronous Function Used)
Used when the twin synchronous function is used. This parameter specifies the maximum deviation
between the teaching position and the current station position.
0 : No deviation check
Other than 0 : Deviation angle (units : 0.1°)
Sub-task1
R1
Station S1
In the above figure on the left, the follower R2 executes the job of subtask 2 in synchronization with the
motion of the station axis which is moved by the R1 job. In this procedure, the job of subtask 2 controls
only the R2 robot axis.
If the teaching position of the station in the subtask 2 differs from the station current position (controlled
by the subtask 1 job), the difference is automatically offset so that R2 keeps the taught position in
relation to the station.
Difference between the taught and the station current positions is always monitored. If the difference
exceeds a set value of the parameter, the message "PULSE LIMIT (TWIN COORDINATED)" appears.
8.6 Parameters according to Coordinated or Synchronized Operation
Manipulator at
synchronizing side
Sub-task2
R2
Position set when
teaching synchronizing side
8-44
Conpensation
Station
8 Parameter
Deviation made
at playback
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