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4.2. Synchronization work program configuration

4.2. Synchronization work program configuration​

 

n Start location standby

Robot stands by in the start location until the operation command is given.

 

n Interlock standby

Robot moves near the synchronization work zone and waits until the workpiece reaches the distance recorded on the WAITCNVY command.

 

The following picture shows the painting program for the workpiece on the conveyor. Robot starts the conveyor synchronization as it progresses to step 4 and sprays the paint on the workpiece in synchronized condition when moving to step 5. Here, the interlock standby step (Step 3) is recorded near step of entering the synchronization work zone (Step 4).

 

 

The above work can be prepared in the program as follows.

 

 

Step 1                                                  → Robot start location

Step 2

Step 3                                                  → Interlock standby step

CNVYSYNC 1                   → Conveyor synchronization playback ON

WAITCNVY SYNC=0,D=500     → Conveyor interlock standby

Step 4                                                  → Step entering synchronization zone

DO1 = 1                              → Paint spray ON signal

Step 5                                                  → 1st synchronization step

ː

Step 9                                                  → Last synchronization step

DO1 = 0                                  → Paint spray OFF signal

CNVYSYNC 0                          → Conveyor synchronization playback OFF

Step 10

ː

Step 13                                                → Robot start location

END

 

 

n Synchronized playback

In the picture, conveyor synchronization playback zone is from step 4 to 9, and all the commands in this zone are synchronized to the conveyor and executed.

 

n Return to start location

When the work is completed, the robot returns to the starting location for next operation command.