Toshiba TS2000 Instruction Manual page 7

If the robot waiting position for conveyor synchronization is required as shown in
the above figure, [P0: Robot waiting position] should be provided at a position
aligned with point A. (Point A: Synchronization start point, Point B:
Synchronization end point, P0: Robot waiting position)
[1] Conveyor move time T (0 ~ 1): Delay interval
The robot stops at the waiting position during the time from the trigger signal
detection by the controller to the conveyor movement by [C: Conveyor
synchronization delay distance].
[2] Conveyor move time T (1 ~ 3): Acceleration interval
If the robot momentarily starts (or stops) movement at the conveyor speed,
an excessive impact may be imposed on the robot or workpiece, or the
robot will vibrate. To avoid this, [D: Acceleration/deceleration distance for
conveyor synchronization] should be specified to assure smooth start and
stop of the robot. When T = 1, the robot starts accelerating from point A,
and catches up with the conveyor speed when T = 3. In other words, while
the conveyor moves by "2D", the robot accelerates to the conveyor speed in
the distance of "D", starting from point A.
[3] Conveyor move time T (3 ~ 7): Constant-speed interval
During conveyor synchronization (i.e., while the robot is moving by tracking
the conveyor), the robot moves in parallel with the conveyor at the same
speed as the conveyor. During this time, the workpiece is chucked.
(Teaching of the synchronized operation program and work positions is
performed in this interval.)
[4] Conveyor move time T (7 ~ 9): Deceleration interval
When T = 7, the robot starts decelerating. When T = 9, the robot stops
completely at point B. That is, while the conveyor moves by "2D", the robot
slows down and stops in the distance of "D".
(*) Both C and D are the independent variables. In the above explanation, C
= D to simplify the operation. It is also possible to specify another different
values for C and D.
INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION
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