Sample Programs; Handling Work - Toshiba TS2000 Instruction Manual

6.7

Sample Programs

The programs using the conveyor synchronization control command are
exemplified below. When using these programs for actual robot operation,
review the programs according to the robot working envelope and surrounding
condition.
6.7.1

Handling Work

PROGRAM HANDLING
ACCUR=COARSE
CONFIG=RIGHTY
N=1
C=10.0
D=5.0
CONV (N,A,B,C,D)
MOVE P0
SYNC (N)
MOVES P1+POINT (0,0,100)
DOUT (213, –214)
MOVES P1 WITH SPEED = 20
DOUT (–213, 214)
DELAY 0.5
MOVES P1+POINT (0,0,100)
MOVES P0
UNSYNC (N)
END
DATA
A = ~
B = ~
P0 = ~
P1 = ~
END
INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION
Coarse positioning accuracy is selected.
The right-shoulder system is selected for robot
configuration.
The parameters are defined.
The robot moves to the waiting position.
Waiting for LS ON. With LS ON, synchronization starts.
The robot moves to the approach point.
The robot hand opens.
The robot moves to the chucking point.
The robot hand closes.
The robot motion stops for 0.5 sec.
The hand moves up.
The robot moves to the retract point.
Synchronization ends.
Conveyor synchronization start point
Conveyor synchronization end point
Waiting point/retract point
Chucking point
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