Programming And Teaching; Cautions On Programming - Toshiba TS2000 Instruction Manual

6.

Programming and Teaching

6.1

Cautions on Programming

When creating the conveyor synchronization program, observe the following
cautions.
(1) Motion commands that can be used
Motion control commands that can be described during processing control of
SYNC command and UNSYN command (i.e., during conveyor
synchronization) are only the linear interpolation (MOVES) and circular
interpolation (MOVEC). If any other motion control command is
programmed, the error of "002–025: Invalid command" occurs and the
program stops with this command block.
Once the synchronization has started, the robot continues moving in parallel
with the conveyor coordinates until it reaches the conveyor synchronization
end position (i.e., <Position 2; B> specified by CONV command).
This is also true for the motion control commands in the subprogram
registered in the library file (SCOL. LIB).
(2) Setting of positioning accuracy: ACCUR = COARSE
When a motion control command is described during conveyor
synchronization, specify "ACCUR = COARSE" for positioning accuracy of this
motion control command. This should be programmed before the SYNC
command. When "ACCUR = FINE" (initial state) is specified, conveyor
synchronization is not executed for the motion control command.
(3) Robot configuration (Designation of CONFIG)
Be sure to specify the robot configuration effective during actual conveyor
synchronization. That is, be sure to program "CONFIG = RIGHTY
(right-shoulder system) or LEFTY (left-shoulder system)" before the SYNC
command. If the robot configuration is illegal, the configuration currently
kept internally is used compulsively by the SYNC command.
INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION
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STE73828