Toshiba TS2000 Instruction Manual page 60

– 2 • D >> Lcv (mm) = Vcv × Tcv
AB
*1: For how to use the conveyor utility function, see Para. 7.4.
Step 4: Confirm the trackability for conveyor synchronization.
Actually feed workpieces on the conveyor, and when the trigger signal
has turned on, the conveyor synchronization starts. To make the
conveyor synchronization effective, however, observe the following
operation.
(A) Remove the workpieces.
(B) Make the SYNC and UNSYNC command valid.
(C) Set all actual job programs as the comment out.
(D) If the waiting position differs from [A: Synchronization start position]
and the distance between the conveyor and robot increases, check
of the trackability is rather difficult. When this happens, change
the waiting position (P0) to [A: Synchronization start position].
PROGRAM CONVTEST
:
CONV( N, A, B, C, D )
MOVE P0
MOVE A
SYNC(N)
WAIT CONVSTAT >= 4
MOVES P1 + POINT( 0, 0, 100 )
'DOUT(213,–214)
'MOVES P1 WITH SPEED = 20
'DOUT(–213, 214)
'DELAY 0.3
'MOVES P1+POINT( 0, 0, 100 )
'MOVES P0
UNSYNC(N)
END
INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION
→
Change the waiting position to point A.
Actual job program during conveyor synchronization
→ Set all lines (or blocks) as comment out.
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STE73828