5. FAQ

 

n  When the axis specification of the additional axis is the base and axis configuration is direct operation, how is the conveyor synchronization done?

If an additional axis exists during conveyor synchronization, the conveyor tracks the additional axis first. If the robot cannot track the additional axis due to soft limit, arm interference etc., the robot uses the 6 axes to track the conveyor.

 

n How is the conveyor synchronization done around 0 degrees of B axis?

When the robot passes the 0 degrees of B axis during conveyor synchronization, the robot cannot maintain the tool position consistently. Therefore select the tool direction not using the 0 degrees of B axis ahead when assembling the tool.

 

n What is the increase timing of the conveyor data?

The increase timing of the conveyor data according to the conveyor operating mode is summarized as follows

 

	Normal	Simulation test	Test
CP	LS input	Always consistent	Always consistent
CD	Same as above	(1)    After setting the simulation speed, turn on conveyor synchronization to ON (2)    Set the simulation register value as the initial value and increase the value	Always consistent
CS	Same as above	(1)    Set simulation speed (2)    When running step 0, read the simulation speed	Always 0

 

n What is the clear timing of the conveyor data?

The clear timing of the conveyor data according to conveyor operating mode is summarized as follows.

 

	Normal	Simulation	Test
CP	①     Execute program cycle END ②     Execute conveyor synchronization reset command (CNVYSYNC 2) ③     Manually reset conveyor data (When robot is stopped) ④     Conveyor data clear input signal ON (When robot is stopped)	①     Execute conveyor synchronization reset command (CNVYSYNC 2) ②     Conveyor data clear input signal ON (When robot is stopped)	①     Execute conveyor synchronization reset command (CNVYSYNC 2) ②     Manually reset conveyor data (When robot is stopped) ③     Conveyor data clear input signal ON (When robot is stopped)
CR	Same as above	①     Execute program cycle END ②     Execute  conveyor synchronization reset command (CNVYSYNC 2) ③     Conveyor data clear input signal ON (When robot is stopped)	①     Execute conveyor synchronization reset command (CNVYSYNC 2) ②     Manually reset conveyor data (When robot is stopped) ③     Conveyor data clear input signal ON (When robot is stopped)
CS	Same as above	①     Execute conveyor synchronization reset command (CNVYSYNC 2) ②     Conveyor data clear input signal ON (When robot is stopped)	Always 0

 

n How can I enter the limit switch manually?

R46 : Use the conveyor limit switch manual input function.

 

n How can I reset the current conveyor data manually?

R44 : Use the conveyor data clear function.