Toshiba TS2000 Instruction Manual
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Toshiba TS2000 Instruction Manual

Robot controller
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INSTRUCTION MANUAL
CONVEYOR SYNCHRONIZATION FUNCTION
• Make sure that this instruction manual is delivered to the
final user of Toshiba Machine's industrial robot.
• Before operating the industrial robot, read through and
completely understand this manual.
• After reading through this manual, keep it nearby for future
reference.
TOSHIBA MACHINE CO., LTD.
Notice
March, 2004
TOKYO, JAPAN
STE73828-3

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Summary of Contents for Toshiba TS2000

  • Page 1 CONVEYOR SYNCHRONIZATION FUNCTION Notice • Make sure that this instruction manual is delivered to the final user of Toshiba Machine's industrial robot. • Before operating the industrial robot, read through and completely understand this manual. • After reading through this manual, keep it nearby for future reference.
  • Page 2 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Copyright 2004 by Toshiba Machine Co., Ltd. All rights reserved. No part of this document may be reproduced in any form without obtaining prior written permission from Toshiba Machine Co., Ltd. The information contained in this manual is subject to change without prior notice to effect improvements.
  • Page 3 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Introduction This manual describes the outline, specifications and commands of the conveyor synchronization function used for Toshiba Machine's Industrial Robot Controller TS2000. Section 1 General Descriptions The outline of this function is described. Section 2 Specifications The basic specifications of this function are described.

  • Page 4: Table Of Contents

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Table of Contents Page General Descriptions ..................6 Specifications....................9 Parameters ...................... 10 [1] Encoder Rotating Direction ..............11 [2] Encoder Interpolation Sampling Period..........12 [3] Conveyor Stop Judgment Time............. 14 [4] Type of Conveyor Synchronization ............14 [5] ~ [7] Dummy Data .................
  • Page 5 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Programming and Teaching................46 Cautions on Programming ................. 46 Outline of Programming ................49 Setting of CONV Command Parameters A, B, C, D........51 6.3.1 Deciding [C: Conveyor Synchronization Delay Distance] ....... 51 6.3.2 Deciding [D: Conveyor Synch. Acceleration/Deceleration Distance] ..52 6.3.3 Teaching [A: Conveyor Synchronization Start Position / B: Conveyor Synchronization End Position]..............

  • Page 6: General Descriptions

    Encoder P0: Robot waiting position Trigger Conveyor detection present position Conveyor synchronization processing unit TS2000 Controller Robot synchronous speed T: Conveyor move time Fig. 1.1 Outline of synchronized operation (*) The conveyor synchronization processing unit reads the conveyor present position...
  • Page 7 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION 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) Conveyor move time T (0 ~ 1): Delay interval The robot stops at the waiting position during the time from the trigger signal...
  • Page 8 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION CAUTION Even if the program stopped during conveyor synchronization, continuous operation is possible by using the restart function just after the program stop. In principle, however, after the stop operation, be sure to reset the operation, move the robot to the safe place by manual guidance, reset the program, then resume the operation.

  • Page 9: Specifications

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Specifications This section describes the specifications of the conveyor synchronization function. Table 2.1 Basic specifications of conveyor synchronization Item Specification Remarks 1. No. of axes A maximum of two (2) conveyor axes This function can be used at a (*1) can be used.

  • Page 10: Parameters

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Parameters The parameters for the conveyor synchronization function are set in "[U20] Conveyor Parameter" of user parameter file [USER.PAR]. The parameter format is as shown below. USER.PAR [U20] Conveyor Parameter {Conveyor Parameter1(CH1,CH2)} [1] Encoder rotating direction [2] Encoder sampling period (ms) [3] Conveyor stop judgment time (ms) [4] Type of conveyor synchronization...

  • Page 11: 1] Encoder Rotating Direction

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION [1] Encoder Rotating Direction Data format Integer Data unit Data setting range : 0 or 1 Example of value When the startup order of phase A and phase B is compared at pulse output of phase A and phase B as output from the encoder used, the pulse adding direction is specified based on phase A.

  • Page 12: 2] Encoder Interpolation Sampling Period

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION [2] Encoder Interpolation Sampling Period Data format Integer Data unit msec Data setting range : 3 ~ 30000 Example of value This parameter specifies the period during which the counter value from the encoder attached to the conveyor is obtained. As the arithmetic operation period of the conveyor synchronization function is three (3) ms, the actual parameter value is a multiple of this arithmetic operation period (3 ms) whose fractions are ignored.
  • Page 13 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION When the value decreases (minimum value 3 msec): • The trackability for the conveyor speed improves. • If this value is too small, however, the synchronization speed changes even with conveyor pulsation, which may result in vibration of the robot. When the value increases: •...

  • Page 14: 3] Conveyor Stop Judgment Time

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION [3] Conveyor Stop Judgment Time This parameter specifies the conveyor stop judgment time. Unless the encoder counter value changes during the time set by this parameter, the system interprets that the conveyor is stopped and outputs the error of "001–048: Conveyor Stop". As this is the error of level 1, programmed operation continues.

  • Page 15: 8] Travel Distance Per Pulse Of Encoder

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION [8] Travel Distance per Pulse of Encoder This parameter specifies the conveyor travel distance (µm) per one (1) pulse of the encoder set to the conveyor. Data format Real number Data unit µm Example of value If the total number of encoder pulses is ∆P (pulse) when the conveyor moves by ∆L (mm), the conveyor travel distance per one (1) pulse of the encoder α...

  • Page 16: 9] [10] Rotation Center Position X, Y Of Arc Conveyor (World Coordinate System)

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION (2) To count the number of pulses of CH1 or CH2, select <MES1> or <MES2>, respectively. After moving the conveyor by ∆L, press the <SET> key. C O N V U T I L I T Y <...

  • Page 17: Commands

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Commands This section deals with the commands used for the conveyor synchronization function. The following five (5) commands are newly added to the SCOL language (Symbolic Code Language for Robot) for the conveyor synchronization function. Command Function CONV...

  • Page 18: Conv

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION CONV Function : Defines the conveyor synchronization parameters. Format : CONV (<Number>, <Position 1>, <Position 2>, <Relative distance 1>, <Relative distance 2>, <Real number 3>) Example : CONV (N, A, B, C, D, E) Explanation : Defines the parameters required for conveyor &...
  • Page 19 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION <Position 2; B> Conveyor synchronization end position (position type data) Specify the position for ending the conveyor and robot synchronization. The robot finishes synchronization with the conveyor at this position. (Only position type data of vector type data can be specified.) When A = (X ) and B = (X ), the travel distance for...
  • Page 20 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION (Caution) When the value of the user parameter is 0.0 with the E parameter omitted (or E = 0), the error saying "002–033 Conveyor Parameter Error" occurs at the time of program execution and the robot stops. Cautions •...

  • Page 21: Sync

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION SYNC Function : Starts the conveyor synchronization. Format : SYNC (<Number>, [<Stop judgment time>]) Example : SYNC (N, T) Explanation : At the same time that the synchronization start trigger & caution signal is ON, the conveyor synchronization starts. <Number;...

  • Page 22: Unsync

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION UNSYNC Function : Finishes the conveyor synchronization. Format : UNSYNC (<Number>) Example : UNSYNC (N) Explanation : The conveyor synchronization finishes. & caution <Number; N> Specify the logical number of the conveyor for which synchronization is to be finished. •...

  • Page 23: Xin

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Function : Monitors the encoder cable breakage. Format : XIN (<Signal name>) Example : ON XIN (1) DO GOTO L100 Explanation : Breakage of the encoder cable is monitored. If a fault & caution is detected, it is informed. <Number;...
  • Page 24 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION • If the encoder cable breakage has been detected during conveyor synchronization, be sure to recess the robot to the safe place. Otherwise, the robot and workpiece, or conveyor may collide. As you know from the sample program given below, recess the robot by means of the MOVES command after the detection of breakage, then finish the conveyor synchronization with the UNSYNC command.

  • Page 25: Cnvstat

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION CNVSTAT Function : Accesses the information on conveyor synchronization status. Format : CNVSTAT Example : WAIT CNVSTAT > = 4 ON COVSTAT < > 4 BREAK DO GOTO L1 Explanation : The information on conveyor synchronization status is &...
  • Page 26 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Conveyor status table Conveyor asynchronization Signifies that the conveyor is not synchronized. (As this command can be used only after execution of the SYNC command, "1" is not set actually in the program. Waiting for trigger signal The conveyor is waiting until the trigger signal is turned on.
  • Page 27 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Sample program PROGRAM MAIN CONV (1, A, B, 100.0, 200.0) MOVE P1 SYNC (1) WAIT CNVSTAT >=4 MOVES P2 MOVES P3 WAUT CNVSTAT >=6 UNSYNC (1) STE73828 – 27 –...

  • Page 28: Interface

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Interface Robot controller TS2000 uses the conveyor synchronization by mounting option printed board X8HL. This printed board is connected to the option slot of the controller. High-Speed Signal Input Specifications (Conveyor Synchronization Trigger Signal Specifications)

  • Page 29: Circuit Structure

    The circuit structures are shown below. As a bi-directional photocoupler is used in the input circuit, the source type (plus common) or the sink type (minus common) can be changed over. CN１5 CN１5 TS2000 TS2000 Robot controller Robot controller Customer's side...

  • Page 30: Contact/Transistor Specifications

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Customer's side Customer's side P24V P24V Non-voltage contact or Non-voltage contact or open collector input open collector input Fig. 5.3 Example of input signal circuit (when internal power supply is used) 5.1.2 Contact/Transistor Specifications The contact/transistor connected with the external device should satisfy the following specifications.

  • Page 31: Connection Between Conveyor Synchronization Start Trigger Switches

    Connect the conveyor synchronization start trigger switch to either of the high-speed input conveyor synchronization trigger switch 1 or 2. The connection is shown in Fig. 5.6 and Fig. 5.7. CN15 TS2000 Robot controller Customer's side (X8HL printed board) Conveyor...
  • Page 32 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION CN15 TS2000 Robot controller Customer's side (X8HL printed board) Conveyor Synchronization synchronization trigger signal 1 trigger switch 1 Conveyor Synchronization synchronization trigger signal 2 trigger switch 2 6or14 P24V 5or13 7or15 Fig. 5.7 Connection of conveyor synchronization start trigger switches (internal power supply;...

  • Page 33: Conveyor Synchronization Specifications

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Conveyor Synchronization Specifications When the conveyor synchronization function of the option printed board (X8HL) is used, the signal from the incremental encoder and input signal from the conveyor synchronization start trigger switch are required. 5.2.1 Incremental Encoder Specifications Use such an encoder having phase A and B signals with 90°...

  • Page 34: Connection Between Incremental Encoders

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION 5.2.3 Connection between Incremental Encoders Use and connect a shield twisted pair cable as shown in Fig. 5.4.5. If it is connected incorrectly, noise resistance deteriorates, causing a malfunction. When the robot controller external power supply is used, connect according to Fig.
  • Page 35 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION C N 1 4 T S 2 0 0 0 R o b o t c o n t r o lle r C u s t o m e r 's s id e ( X 8 H L p r in t e d b o a r d ) C H 1 A H C o n v e y o r 1...

  • Page 36: Relationship Between Encoder Cable Length And Number Of Power Supply Twisted Pairs

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION 5.2.4 Relationship between Encoder Cable Length and Number of Power Supply Twisted Pairs When +5 V supplied from the robot controller (i.e., option printed board) is used for the encoder power supply, connect the cable, considering voltage drop in the cable.

  • Page 37: Fabricating Cable

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Fabricating Cable Fabricate a cable in the following manner. High-speed signal input cable specifications • Core cable: 0.2 mm ~ 0.52 mm , twisted wires • Cable outer diameter: Max. 9 mm • Shield: Shield cluster •...
  • Page 38 Fig. 5.8 Fabricating a cable Note: The shield of the cable is connected with the grounding terminal of the TS2000 robot controller through the housing. The shield should be connected with the housing completely in the cable clamping part. STE73828...

  • Page 39: Assembling Printed Board

    (1) screw is provided on the top. Remove the screws, using a driver, then pull the cover toward you to remove. Cover TOSHIBA MACHINE TS2000 Robot Controller Fig. 5.9 Removing cover Remove the dummy connector plate equipped on the rear side of the robot controller.
  • Page 40 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION D um m y connector plate Fig. 5.10 Rear view of robot controller Insert the option printed board (X8HL) into the mother board. Remove the cover of connector CN6 equipped on the mother board (X8HB). Then insert the option printed board (X8HL) into CN6 of the X8HB printed board completely.
  • Page 41 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Cover the robot controller as it was before, then secure with the screws. Connector plate for option printed board Fig. 5.12 Rear view of robot controller after assembly STE73828 – 41 –...

  • Page 42: Setting Of Terminator

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Setting of terminator When using the conveyor synchronization function, setting of the terminator is necessary because the encoder cable can be connected not only individually, but in a row as shown in Fig. 5.13 below and the conveyor position can be identified by each controller.
  • Page 43 When two (2) controllers (controllers 1 and 2) are used: Set OFF all four (4) poles of SW4 of controller 1. Perform setting of SW4 of controller 2 in the same manner as in Para. [1] above. TS2000 (2) TS2000 (1) X8HL printed board X8HL printed board...

  • Page 44: Defining Optimal Resolution Of Encoder

    Re: Encoder resolution (ppr) When the 2000 (ppr; 1/4 of the value processed in the controller) resolution encoder is used, for instance, it is processed as 8000 (ppr) in the TS2000 controller. : Conveyor speed (mm/sec) D: Conveyor roller diameter...
  • Page 45 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION From Expression (1) above, Expression (2) can be obtained. π•D•G 1000 • • pulse When the values are substituted for V , D and V in Expression (2), the pulse optimal encoder resolution (R ) is about 840 ~ 8400 (ppr). STE73828 –...

  • Page 46: Programming And Teaching

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Programming and Teaching 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).
  • Page 47 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION (4) ON ~ DO ~ Command (Conditional monitor) • If monitoring of <Monitor condition> by ON command is required during conveyor synchronization, cancel it once by the IGNORE command just before the SYNC command, then specify it again. •...
  • Page 48 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION (8) Program stop When the STOP command is described during conveyor synchronization, the program stops, but the conveyor synchronization continues. This is also true as long as the conveyor (encoder) is working even after the program has stopped with other error.

  • Page 49: Outline Of Programming

    A: Conveyor synchronization start position B: Conveyor synchronization end position Conveyor Synchronization start trigger sensor Encoder P0: Robot waiting position Trigger Conveyor detection present position Conveyor synchronization processing unit TS2000 Controller Robot synchronous speed T: Conveyor move time STE73828 – 49 –...
  • Page 50 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION <Example program> PROGRAM CONVTEST C=10.0 D=5.0 ACCUR=COARSE Coarse positioning accuracy is selected. CONFIG=RIGHTY The right-shoulder system is selected for robot configuration. CONV (N,A,B,C,D) The parameters are defined. MOVE P0 The robot moves to the waiting position.

  • Page 51: Setting Of Conv Command Parameters A, B, C, D

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Setting of CONV Command Parameters A, B, C, D This paragraph describes the setting and adjustment of CONV command parameters A, B, C, D as described in the program. 6.3.1 Deciding [C: Conveyor Synchronization Delay Distance] Constant-speed interval Workpiece A: Conveyor synchronization start position...

  • Page 52: Deciding [D: Conveyor Synch. Acceleration/Deceleration Distance]

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION 6.3.2 Deciding [D: Conveyor Synch. Acceleration/Deceleration Distance] Acceleration/deceleration distance D is intended for reducing an impact on the robot or workpiece, which is caused at the start of synchronous movement. It should be specified after interval C, as shown below. (This parameter cannot be specified before interval C.) Constant-speed interval Workpiece...

  • Page 53: Teaching [A: Conveyor Synchronization Start Position / B: Conveyor Synchronization End Position]

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION If there is an impact during acceleration to the conveyor speed at the stage of adjustment as described later, readjust the D value. *1: For the conveyor utility function, see Para. 7.4. The actual job interval during conveyor synchronization is the constant-speed interval in which the robot synchronization speed coincides with the conveyor speed, and the distance of the constant-speed interval is figured out from the following expression.
  • Page 54 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Teach point A so that it can be located at a position advanced by the distance of "C+D" in the conveyor vector direction from the trigger sensor position. (*1) *1: A teaching error caused here in the conveyor vector direction can be absorbed by adjusting the value of [C: Conveyor synchronization delay distance].

  • Page 55: Teaching

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Teaching This paragraph deals with the teaching operation of the conveyor synchronization function. CAUTION • Before teaching operation, be sure to stop the conveyor. If the conveyor is moving, the synchronization start trigger sensor may operate under some teaching condition, resulting in an unexpected movement or collision.

  • Page 56: Teaching Of Conveyor Waiting Position

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION 6.4.1 Teaching of Conveyor Waiting Position Constant-speed interval Workpiece A: Conveyor synchronization start position B: Conveyor synchronization end position Synchronization start trigger sensor P0: Robot waiting position Teach the robot waiting position (P0). STE73828 – 56 –...

  • Page 57: Teaching Of Motion Points During Conveyor Synchronization

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION 6.4.2 Teaching of Motion Points during Conveyor Synchronization Teach the motion points used in the motion command during conveyor synchronization. When teaching the robot actually, use a workpiece placed on the conveyor. At this time, take care of the relationship between the trigger sensor set position and workpiece detecting position.

  • Page 58: Readjustment And Confirmation Of Conveyor Synchronization Parameters [Conv (A, B, C, D)]

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Readjustment and Confirmation of Conveyor Synchronization Parameters [CONV (A, B, C, D)] Confirm the conveyor synchronization parameters. In this paragraph, check is performed on whether the actual job program during conveyor synchronization can be finished in the constant-speed interval of the conveyor synchronization. For this purpose, the following condition should be satisfied.
  • Page 59 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Step 1: Measure the processing time (Tcv (sec) of the actual job program during conveyor synchronization between the SYNC command and UNSYNC command. PROGRAM CONVTEST CONV( N, A, B, C, D ) MOVE P0 → Comment out ‘...
  • Page 60 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION – 2 • D >> Lcv (mm) = Vcv × Tcv *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.
  • Page 61 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Repeat the synchronized movement, using this program and perform check on the following items. Make sure that no impact is caused to the arm at the start of conveyor synchronization. Adjust [D: Conveyor acceleration/deceleration distance] according to Para.

  • Page 62: Confirming Programmed Operation

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Confirming Programmed Operation After confirming that the trackability is sufficient for the workpiece, carefully return the program to the original state, then perform actual job such as workpiece chucking. CAUTION • Before starting the program, read through Section 7. Especially, after the stop operation during conveyor synchronization, observe the restoring procedures described in Para.
  • Page 63 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION <Test program for final confirmation> PROGRAM CONVTEST C=10.0 D=5.0 ACCUR=COARSE Coarse positioning accuracy is selected. CONFIG=RIGHTY The right-shoulder system is selected for robot configuration. CONV (N,A,B,C,D) The parameters are defined. MOVE P0 The robot moves to the waiting position. SYNC (N) Waiting for LS ON.

  • Page 64: Sample Programs

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION 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 Coarse positioning accuracy is selected.
  • Page 65 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION • Be sure to specify the positioning accuracy and robot configuration. • Use variables for each parameter. • For the robot waiting point, see Section 1. • The hand is opened and closed with auxiliary output signals. (Use of DOUT command) •...

  • Page 66: Pick & Place Work

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION 6.7.2 Pick & Place Work PROGRAM PICKUP ACCUR=COARSE Coarse positioning accuracy is selected. CONV (N,A2,B2,15.0,10.0) Conveyor 2 parameters are defined. ON XIN(2) DO GOTO L200 Encoder cable 2 is checked for breakage. CONV (N,A1,B1,40.0,10.0) Conveyor 1 parameters are defined. ON XIN(1) DO GOTO L200 Encoder cable 1 is checked for breakage.
  • Page 67 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION DATA A1 = ~ Conveyor 1 synchronization start point B1 = ~ Conveyor 1 synchronization end point P1 = ~ Conveyor 1 waiting point/retract point Conveyor 1 ..A2 = ~ Conveyor 2 synchronization start point B2 = ~ Conveyor 2 synchronization end point P2 = ~...

  • Page 68: Operation

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Operation This section describes the operating procedures for the conveyor synchronization function. Stop Operation The following stop operations are available for the TS2000 controller. • STOP command and external stop signal input • BREAK command •...
  • Page 69 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION If the robot is kept intact under this condition, the robot stops at [B: Conveyor synchronization end point]. As a result, the robot hand may collide with a workpiece on the synchronized conveyor. To prevent this, the system should be constructed, fully considering the following matters.
  • Page 70 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION CAUTION • Even if the program stopped during conveyor synchronization, continuous operation is possible by using the restart function just after the program stop. In principle, however, after the stop operation, be sure to reset the operation, move the robot to the safe place by manual guidance, reset the program, then resume the operation.

  • Page 71: Reset Operation

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Reset Operation When the reset operation is executed after the stop operation done during conveyor synchronization, the processing of conveyor synchronization stops. In other words, the UNSYNC command (i.e., synchronization end command) is executed by the following reset operation. The reset operation comes in the following three (3) types.

  • Page 72: Conveyor Stop

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Cautions: • After the stop operation and before the reset operation, be sure to stop the conveyor. The time covering from the reset operation to the conveyor stop as indicated in the above figure should be as short as possible. •...

  • Page 73: Conveyor Synchronization Utility (Utility → Conv)

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Conveyor Synchronization Utility (Utility → Conv) This paragraph describes the utility function for performing various monitoring operations of the conveyor synchronization function. C O N V U T I L I T Y < C H 1 > <...

  • Page 74: Measuring Total Pulses Of Conveyor Encoder

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Mes Pulse Indicates the measured value of total pulses of the conveyor encoder. When you press the <MES1> (F1) or <MES2> (F2) function key, measurement of total encoder pulses starts. For the measuring procedures, see Para. 1.2.1. Mes Trip Indicates the calculated value of conveyor travel distance.
  • Page 75 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION (3) When you press the <SET> key, the number of pulses measured "Mes Pulse" and the value which was calculated by converting the value of "Mes Pulse" into the travel distance in unit "Mes Trip" are displayed on the screen.

  • Page 76: Troubleshooting

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Troubleshooting Error Message Table If an error has been detected by the self-diagnosis function, appropriate alarm message is displayed on the teach pendant, as shown below. Identify the cause and take appropriate measures according to the following table. Error code Error message Possible causes and remedies...

  • Page 77: Troubleshooting

    INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION Troubleshooting The error messages originated from the processing of conveyor synchronization are listed below. If the step number of the position where an error occurred indicates the CONV, SYNC, or UNSYNC command, identify the cause and take appropriate measures according to the following table.
  • Page 78 INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION APPROVED BY: CHECKED BY: PREPARED BY: STE73828 – 78 –...

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