5.3. Program teaching method using SELSTN command

5.3. Program teaching method using SELSTN command

 

(1)   Designate the positioner group number to synchronize with SELSTN S# command. Selected station will operate based on recording on job program and other stations will be set to be independently operated by the external signal.(SELSTN S1)

 

(2)   After the SELSTN command, record the synchronized reference step on the reference location to start the positioner.(S1)

 

(3)   Record the step by operating the selected positioner. (S2, S3, S4, S5) At this time, do not operate the unselected positioner if possible (Positioner group 2 and 3).

 

(4)   Program example

SELSTN S1

S1  MOVE L,S=300mm/s,A=0,T=0

S2  SMOV S1,L,S=100mm/s,A=0,T=0

S3  SMOV S1,L,S=100mm/s,A=0,T=0

S4  MOVE L,S=300mm/s,A=0,T=0

S5  SMOV S1,L,S=100mm/s,A=0,T=0

 

◆【Caution】◆

 

①    IF the station number set by SMOV and number set by SELSTN are different, an error (E0219) will be generated.

 

②    When set to SELSTN S0, all stations set will not be operated by the program playback (S1~S3). At this time, all stations can be operated independently.

 

 

(5)   If the positioner group number to operate during playback has changed, the station number must be designated newly. (SELSTN S2)

 

(6)   Record the reference step to start the synchronized operation of the position with the robot with the MOVE command. (S6)

 

(7)   Operate the selected positioner and record the step. (S7, S8, S9) At this time, do not operate the remaining positioner (Station 1 and Station 3) and record the details.

 

(8)   Program example

SELSTN S1

S1  MOVE L,S=300mm/s,A=0,T=0

S2  SMOV S1,L,S=100mm/s,A=0,T=0

S3  SMOV S1,L,S=100mm/s,A=0,T=0

S4  MOVE L,S=300mm/s,A=0,T=0

S5  SMOV S1,L,S=100mm/s,A=0,T=0

SELSTN S2                      → Change station, positioner group 2 playback from step 6

S6  MOVE L,S=300mm/s,A=0,T=0

S7  SMOV S2,L,S=100mm/s,A=0,T=0

S8  MOVE L,S=300mm/s,A=0,T=0

S9  SMOV S2,L,S=100mm/s,A=0,T=0

 

◆【Caution】◆

 

If the station number has changed (S1~S3) from SELSTN command, the selected position groups will be canceled to switch to independent operation function condition.

 

(9)   Independent operation of the positioner canceled from group selection is prohibited and if all axes of jig axis want to be at the recorded location on step, cancel the station selection with the SELSTN ALL command. (SELSTN ALL)

 

(10) After SELSTN ALL command, all positioners will operate to the step location based on the playback command and even when the independent operation input signal is received, the positioner cannot be operate independently. (S10, S11, S12)

 

(11) Program example

SELSTN S1

S1  MOVE L,S=300mm/s,A=0,T=0

S2  SMOV S1,L,S=100mm/s,A=0,T=0

S3  SMOV S1,L,S=100mm/s,A=0,T=0

S4  MOVE L,S=300mm/s,A=0,T=0

S5  SMOV S1,L,S=100mm/s,A=0,T=0

    SELSTN S2

S6  MOVE L,S=300mm/s,A=0,T=0

S7  SMOV S2,L,S=100mm/s,A=0,T=0

S8  MOVE L,S=300mm/s,A=0,T=0

S9  SMOV S2,L,S=100mm/s,A=0,T=0

    SELSTN ALL                                        → Cancel station selection

S10 MOVE P,S=100%,A=0,T=0

S11 MOVE L,S=1200mm/s,A=0,T=0

S12 MOVE L,S=200mm/s,A=0,T=0

 

◆【Caution】◆

When there is an entry in operation including change in step, change in program and external reset, the station selection will automatically be canceled and the positioner in independent operation will stop.