S2C687: Operation Of Job Without Control Group; Specification; S2C688: Execution Of "Bwd" Operation; S3C1101: Maximum Deviation Angle Of Current Station Position (When Twin Synchronous Function Used) - YASKAWA DX100 Operator's Manual

155507-1CD
DX100

8.6.0.9 S2C687: OPERATION OF JOB WITHOUT CONTROL GROUP

8.6.0.10 S2C688: EXECUTION OF "BWD" OPERATION

d7
8.6.0.11 S3C1101: MAXIMUM DEVIATION ANGLE OF CURRENT STATION
Sub-task1
R1
8 Parameter
8.6 Parameters according to Coordinated or Synchronized Operation

SPECIFICATION

When the servo power supply is individually turned OFF where jobs in
multiple number of tasks are operated using the independent control
function, the job execution of the control group whose servo power supply
is turned OFF is interrupted. The jobs of other control groups continue
their execution.
For the jobs without control group specification such as master job, the
conditions for execution can be set by the parameter.
0 : Execution possible only when servo power supply to all the axes have
been turned ON.
1 : Execution possible when servo power supply to any axis is turned ON.
This parameter prohibits step-back operation of a job without a step.
d0
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-task2
R2
Position set when
teaching synchronizing side
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.
8-48
"BWD" operation for a job without a group axis. 0: Enabled 1: Disabled
"BWD" operation for concurrent job. 0: Enabled 1: Disabled
Manipulator at
synchronizing side
Station
Conpensation
Deviation made
at playback
RE-CSO-A037
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