01 CV Programming
01 CV Programming
01 CV Programming
Figure 1 shows a limit switch for the Conveyor Home Position. This is where the controller
starts tracking the part The job is initially taught with the conveyor not moving.
Conveyor
control Conveyor home-position
panel limit switch
Synchronized section
Motor
Conveyor
moving direction
Encoder
(detects the conveyor
moving amount)
Manipulator
XRC
When the Conveyor Home Position Input Signal turns ON, the conveyor current value is
automatically reset to zero millimeters. The XRC can synchronize a robot with a conveyor
continuously over a maximum distance of 21 meters.
NOTE: If the moving distance during synchronization exceeds 21 m, ALARM 5022:
“CONVEYOR POSITION LIMIT” occurs, and the robot stops.
SYEND
SYEND CV#(1)
This instruction indicates the end of a conveyor synchronized operation sequence.
Register the SYEND instruction after the last step location where the end of tracking is
desired.
When the conveyor home-position limit switch is ON, the conveyor home-position is
updated. Executing the SYEND instruction clears the conveyor home-position registered
status. Therefore, insert the SYEND instruction before the SYSTART and synchronized
motion steps.
SYSTART
SYSTART CV#(1) STP=1000.00 OL=200.00
This instruction indicates the start of a conveyor synchronized operation sequence using the
Condition File in the tag CV#( ). The robot starts follow-up motion by SYMOVJ,
SYMOVL, or SYMOVC instructions in the job after the SYSTART instruction.
Depending on the settings in the CV Condition File, the controller waits either indefinitely or
a designated amount of time for the limit switch to sense the part. Upon triggering the
switch, the position is reset to zero. When the current position value reaches the Start
Tracking Position tag in millimeters (STP) or Pulse Counts (STPP), the synchronized motion
instructions begin execution.
The Over Limit tag (OL), expressed in millimeters, specifies that if the next part activates
the trigger and travels past the STP by more than this allowable limit (while the robot is still
tracking the previous part) then at the next SYSTART command the robot will wait for
another part and not attempt to track the one that exceeded the set limit.
The SYMOV_ instructions are the only ones that will command the robot to track with the
conveyor. Any standard MOV_ instructions will cause the robot to move to a fixed
Command Position that is not shifted by the Conveyor Tracking. The speed tags,
VJ=Joint_speed, V=Control_point_speed, and VR=Angle_speed mean the same as with
the standard motion types.
To access the Synchronous Motion Types in the Edit Buffer line, hold SHIFT and press the
MOTION TYPE key. Simply press the MOTION TYPE key to sequence through the
three choices SYMOVJ, SYMOVL, and SYMOVC. Repeat SHIFT + MOTION TYPE
to toggle back to the standard MOVJ, MOVL, MOVC, and MOVS.
SYMOVL (conveyor
=> SYMOVL V=66 CV#(1)
synchronized interpolation)
NOTE: SYMOVJ can be used only when the BASE is selected for synchronization.
If SYMOVJ is executed when the ROBOT is used, Alarm 4583: “CAN NOT
USE SYMOVJ DURING TRACKING” occurs and the manipulator stops.
SYMOVJ VJ=50.00 CV#(1) CTP=100.000
SYMOVL V=200.0 CV#(1) CTP=100.000
SYMOVC V=200.0 CV#(1) CTP=100.000
The CTP tag is automatically captured when the step position is recorded or modified.
It represents the Conveyor Teaching Position (CTP) in millimeters beyond the trigger
location.
limit switch
CTP Distance
Motor
Conveyor
moving direction
SYMOVL points
Encoder
NOP
SYEND CV#(1)
MOVJ VJ=0.78
MOVJ VJ=100.00
SYSTART CV#(1) STP=1000.000
SYMOVL V=500 CTP=987.459
SYMOVL V=500 CTP=987.459
SYMOVL V=500 CTP=987.459
SYMOVL V=500 CTP=987.459
SYMOVL V=500 CTP=987.459
SYMOVL V=500 CTP=987.459
SYEND CV#(1)
MOVJ VJ=100.00
END
Modification of a SYMOV_ position must be done with care, as all SYMOV_ positions
are related to the Current Conveyor position. The conveyor must be in a non-tracking
status when inserting or modifying points.
limit switch
Conveyor
moving direction
Encoder
limit switch
Conveyor
moving direction
Encoder
If the SYMOV_ has a CTP of 987.459 and the conveyor has a current position of
2000.459 as shown in Figure 4, forwarding to the SYMOV position will cause the robot to
attempt to move to the position shown in the bottom picture. This position may not be
within the reach of the robot.
The tracking status indicator should be OFF. If the Status is ON as shown (z), then
execute a SYEND instruction in the JOB CONTENT by INTERLOCK + FWD.
(The Tracking Status is also ended by XRC power OFF.)
CAUTION! Manually changing the CTP on any SYMOV_ may cause a crash.
However, is may be easier to simply use the CUT function for one or more consecutive
SYMOV_ steps to be removed from a job.
To CUT steps from the job, perform the following:
1. Place the cursor on the instruction side of the job on the first step to be removed.
2. Press SHIFT + SELECT to highlight the address side.
3. Cursor up/down to highlight consecutive addresses to be CUT.
4. Press the Area Key to access the Menu Area, then cursor to EDIT and press
SELECT.
5. Cursor to CUT and press SELECT.
6. Cursor to YES on the “Delete?” window and press SELECT.