5. FAQ

 

n How does a conveyor perform a synchronized operation if the specification of the additional axis is the base and the configuration of the axis is for the direct acting?

If there is an additional axis when the conveyor is synchronized, the robot will track the conveyor considering the additional axis first. If the robot cannot track considering the additional axis due to some reasons such as soft limit and interference with the arm, the robot will track the conveyor by using Axis 6.

 

n How does the conveyor perform a synchronized operation if the angle of Axis B is near 0 degree?

When the angle of Axis B becomes near 0 degree while the conveyor is synchronized, the robot cannot maintain the pose of a tool in a constantly uniform manner. That is why the direction of a tool needs to be set in a way that an angle near 0 degree will not be used, while attaching a tool.

 

n When will the conveyor (press) data get incremental?

The following table summarizes the time when the conveyor (press) data are incremental in line with the mode of sensor activation.

 

	Normal	Simulation	Test
Encoder pulse	LS input	Constantly uniform	Constantly uniform
Sensor position	Same as above	1) Set the simulation speed, and then execute the sensor synchronization on 2) Will be incremental while the simulation position value is used as the initial value.	Constantly uniform
Sensor speed	Same as above	1) Simulation speed setting 2) When Step 0 is executed, the simulation speed will be read	Constantly 0

 

n When will the conveyor (press) data get cleared?

The following table summarizes the time when the sensor data get cleared in line with the mode of sensor activation.

 

	Normal	Simulation	Test
Encoder pulse	①  Program cycle end execution ②  Sensor synchronization reset command execution(SensorSync Sensor=1, Sync=2) ③  Sensor data manual reset (While the robot is stopped) ④  Sensor data clearing input signal on (While the robot is stopped)	①  Sensor synchronization reset command execution (SensorSync Sensor=1, Sync=2) ②  Sensor data clearing input signal on (While the robot is stopped)	①   Sensor synchronization reset command execution (SensorSync Sensor=1, Sync=2) ②   Sensor data manual reset (While the robot is stopped) ③   Sensor data clearing input signal on (While the robot is stopped)
Sensor position	Same as above	①  Program cycle end execution ②  Sensor synchronization reset command execution (SensorSync Sensor=1, Sync=2) ③  Sensor data clearing input signal on (While the robot is stopped)	①   Sensor synchronization reset command execution(SensorSync Sensor=1, Sync=2) ②   Sensor data manual reset(While the robot is stopped) ③   Sensor data clearing input signal on (While the robot is stopped)
Sensor speed	Same as above	①  Sensor synchronization reset command execution (SensorSync Sensor=1, Sync=2) ②  Sensor data clearing input signal on (While the robot is stopped)	Constantly 0

 

n How can get the limit switch signal fed manually?

R46: It is recommended to use the sensor limit switch manual input function.

 

n How can get the current conveyor (press) data initialized manually?

R44: It is recommended to use the sensor data clearing function.