Toshiba TS2000 Bedienungsanleitung

STE73828-3

INSTRUCTION MANUAL

CONVEYOR SYNCHRONIZATION FUNCTION

Notice

• Make sure that this instruction manual is delivered to the

final user of Toshiba Machine's industrial robot.

• Before operating the industrial robot, read through and

completely understand this manual.

• After reading through this manual, keep it nearby for future

reference.

March, 2004

TOSHIBA MACHINE CO., LTD.

TOKYO, JAPAN

INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION

No part of this document may be reproduced in any form without obtaining prior

written permission from Toshiba Machine Co., Ltd.

The information contained in this manual is subject to change without prior notice to

effect improvements.

– 2 – STE73828

INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION

Introduction

This manual describes the outline, specifications and commands of the conveyor

synchronization function used for Toshiba Machine's Industrial Robot Controller

TS2000.

Section 1 General Descriptions

The outline of this function is described.

Section 2 Specifications

The basic specifications of this function are described.

Section 3 Parameters

The parameter setting procedures for using this function are described.

Section 4 Commands

The robot language of this function is described.

Section 5 Interface

The preparations and cautions for using this function are described.

Section 6 Programming and Teaching

The teaching procedures for using this function are described.

Section 7 Operation

The operation for stopping and resetting this function is described.

Section 8 Troubleshooting

The contents of this manual are subject to change without prior notice to effect

improvements.

Various instruction manuals are available, including the Introductory, Startup,

Operation, Robot Language, Interface, Communications, Transportation and

Installation, and Maintenance manuals. Refer to these manuals as necessary.

– 3 – STE73828

INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION

Table of Contents

Page

1. General Descriptions........................................................................................6

2. Specifications....................................................................................................9

3. Parameters ......................................................................................................10

3.1 [1] Encoder Rotating Direction...................................................................11

3.2 [2] Encoder Interpolation Sampling Period.................................................12

3.3 [3] Conveyor Stop Judgment Time.............................................................14

3.4 [4] Type of Conveyor Synchronization.......................................................14

3.5 [5] ~ [7] Dummy Data.................................................................................14

3.6 [8] Travel Distance per Pulse of Encoder...................................................15

3.7 [9] [10] Rotation Center Position X, Y of Arc Conveyor (World Coordinate

System)......................................................................................................16

3.8 [11] ~ [15] Dummy Data.............................................................................16

4. Commands.......................................................................................................17

CONV...................................................................................................................18

SYNC ...................................................................................................................21

UNSYNC ..............................................................................................................22

XIN ...................................................................................................................23

CNVSTAT.............................................................................................................25

5. Interface...........................................................................................................28

5.1 High-Speed Signal Input Specifications (Conveyor Synchronization Trigger

Signal Specifications).................................................................................28

5.1.1 Circuit Structure......................................................................................29

5.1.2 Contact/Transistor Specifications...........................................................30

5.1.3 Connection between Conveyor Synchronization Start Trigger Switches 31

5.2 Conveyor Synchronization Specifications..................................................33

5.2.1 Incremental Encoder Specifications .......................................................33

5.2.2 Incremental Encoder Connector Specifications......................................33

5.2.3 Connection between Incremental Encoders...........................................34

5.2.4 Relationship between Encoder Cable Length and Number of Power

Supply Twisted Pairs..............................................................................36

5.3 Fabricating Cable.......................................................................................37

5.4 Assembling Printed Board..........................................................................39

5.5 Setting of terminator...................................................................................42

5.6 Defining Optimal Resolution of Encoder ....................................................44

– 4 – STE73828

INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION

6. Programming and Teaching...........................................................................46

6.1 Cautions on Programming .........................................................................46

6.2 Outline of Programming.............................................................................49

6.3 Setting of CONV Command Parameters A, B, C, D...................................51

6.3.1 Deciding [C: Conveyor Synchronization Delay Distance].......................51

6.3.2 Deciding [D: Conveyor Synch. Acceleration/Deceleration Distance]......52

6.3.3 Teaching [A: Conveyor Synchronization Start Position / B: Conveyor

Synchronization End Position]................................................................53

6.4 Teaching....................................................................................................55

6.4.1 Teaching of Conveyor Waiting Position..................................................56

6.4.2 Teaching of Motion Points during Conveyor Synchronization ................57

6.5 Readjustment and Confirmation of Conveyor Synchronization Parameters

[CONV (A, B, C, D)]...................................................................................58

6.6 Confirming Programmed Operation...........................................................62

6.7 Sample Programs......................................................................................64

6.7.1 Handling Work........................................................................................64

6.7.2 Pick & Place Work..................................................................................66

7. Operation.........................................................................................................68

7.1 Stop Operation...........................................................................................68

7.2 Reset Operation.........................................................................................71

7.3 Conveyor Stop...........................................................................................72

7.4 Conveyor Synchronization Utility (Utility →Conv) .....................................73

7.4.1. Measuring Total Pulses of Conveyor Encoder .......................................74

8. Troubleshooting..............................................................................................76

8.1 Error Message Table .................................................................................76

8.2 Troubleshooting.........................................................................................77

– 5 – STE73828

INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION

1. General Descriptions

This section outlines the conveyor synchronization function.

Encoder

TS2000 Controller

C D DConstant-speed interval DD

Total travel distance for conveyor synchronization

Synchronization start

trigger sensor

Workpiece A: Conveyor synchronization start position B: Conveyor synchronization end position

P0: Robot waiting position

Conveyor

present position Trigger

detection

Conveyor synchronization

processing unit

0123456789

T: Conveyor

move time

0123456789

Robot

synchronous

speed

T: Conveyor move time

Fig. 1.1 Outline of synchronized operation (*)

The conveyor synchronization processing unit reads the conveyor present position

(speed) from the encoder attached to the conveyor, then starts processing the

conveyor synchronization tracking based on the encoder counter at the same time

that the trigger sensor has detected a workpiece flowing on the conveyor.

Additionally, points A and B in Fig. 1.1 are taught in parallel with the conveyor to

specify the synchronization direction and synchronization travel distance of the

conveyor. Thus, the robot moves synchronously along a straight line connecting

point A and point B in the conveyor distance of (B – A).

– 6 – STE73828

INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION

If the robot waiting position for conveyor synchronization is required as shown in

the above figure, [P0: Robot waiting position] should be provided at a position

aligned with point A. (Point A: Synchronization start point, Point B:

Synchronization end point, P0: Robot waiting position)

[1] Conveyor move time T (0 ~ 1): Delay interval

The robot stops at the waiting position during the time from the trigger signal

detection by the controller to the conveyor movement by [C: Conveyor

synchronization delay distance].

[2] Conveyor move time T (1 ~ 3): Acceleration interval

If the robot momentarily starts (or stops) movement at the conveyor speed,

an excessive impact may be imposed on the robot or workpiece, or the

robot will vibrate. To avoid this, [D: Acceleration/deceleration distance for

conveyor synchronization] should be specified to assure smooth start and

stop of the robot. When T = 1, the robot starts accelerating from point A,

and catches up with the conveyor speed when T = 3. In other words, while

the conveyor moves by "2D", the robot accelerates to the conveyor speed in

the distance of "D", starting from point A.

[3] Conveyor move time T (3 ~ 7): Constant-speed interval

During conveyor synchronization (i.e., while the robot is moving by tracking

the conveyor), the robot moves in parallel with the conveyor at the same

speed as the conveyor. During this time, the workpiece is chucked.

(Teaching of the synchronized operation program and work positions is

performed in this interval.)

[4] Conveyor move time T (7 ~ 9): Deceleration interval

When T = 7, the robot starts decelerating. When T = 9, the robot stops

completely at point B. That is, while the conveyor moves by "2D", the robot

slows down and stops in the distance of "D".

(*) Both C and D are the independent variables. In the above explanation, C

= D to simplify the operation. It is also possible to specify another different

values for C and D.

– 7 – STE73828

INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION

!CAUTION

1. Even if the program stopped during conveyor synchronization, continuous

operation is possible by using the restart function just after the program stop.

In principle, however, after the stop operation, be sure to reset the operation,

move the robot to the safe place by manual guidance, reset the program, then

resume the operation. (For details, see Para. 7.2.)

2. Unless an error is caused, DO NOT effect the servo OFF or emergency stop

during conveyor synchronization. Otherwise, the robot hand will collide with a

workpiece on the synchronized conveyor.

3. To avoid the above accident, construct the system, taking notice of the

following matters.

[1] If the conveyor or other external equipment enters an emergency stop

state, the robot should also enter an emergency stop state.

[2] If the robot enters an emergency stop state, the conveyor or other

external equipment should also enter an emergency stop state.

[3] If the robot program stops due to some reason (error stop/stop operation

by operator), the conveyor should be stopped also.

4. Before teaching operation, be sure to stop the conveyor. If the conveyor is

moving, the synchronization start trigger sensor may operate under some

teaching condition, resulting in an unexpected movement or collision. (The

robot at the robot waiting position is only kept stationary until the trigger sensor

turns on, and it can start moving at any time.)

5. The robot retract position should be the completely safe position where it will

not collide with a workpiece running on the conveyor even if the robot

operation is stopped. (Desirably, the robot waiting position should serve as

the robot retract position.)

6. The trigger sensor should be adjusted so that it can always be turned on at a

predetermined position without causing shift of the workpiece detecting

position. If the sensor is turned on due to mixture of different workpieces or

at a position other than the adjusted position, the robot tracking shift or

collision may be caused.

7. While the test operation mode is selected, DO NOT execute the step of the

program (between SYNC command to UNSYNC command), machine lock (dry

mode operation) or [MODE: Motion]. If the conveyor is running, an expected

collision may be caused.

– 8 – STE73828

INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION

2. Specifications

This section describes the specifications of the conveyor synchronization function.

Table 2.1 Basic specifications of conveyor synchronization

Item Specification Remarks

1. No. of axes

(*1) A maximum of two (2) conveyor axes

can be used. This function can be used at a

conveyor speed of 75 ~ 250

mm/sec. The conveyor speed of

under 75 mm/sec can be used

under some conditions.

2. Synchronous

accuracy

(*2)

Accuracy: ±10 mm (at 200 mm/sec

conveyor speed)

• Position interpolation sampling

speed: 3 ms

• Minimum interpolation unit (X, Y,

Z): 0.001 mm

• Trigger signal sampling period: 500

µs

The accuracy is the value when

the conveyor speed fluctuation is

within ±7.5 %.

3. Teaching method Teaching during conveyor stop.

4. Robot language CONV, SYNC, UNSYNC, XIN,

CONVSTAT For details, see Section 4.

5. Conveyor encoder

interface

(*3)

Power supply: +5 V (supplied from

internal source)

Method: A, B 90° phase difference

Specification: RS422 differential input

(line driver method)

Counter: 15-bit absolute counter

(0 ~ 32767)

Port: Two (2) numbers

Resolution: 10 ~ 100 pulses per 3

msec

6. Trigger signal

interface Power supply: +24 V (supplied from

external source)

Specification: Photocoupler input

Port: Two (2) numbers

*1: When the conveyor speed is 75 mm/sec or less, an encoder with high

resolution is required.

*2: The speed interpolation sampling period can be set by parameter.

*3: The encoder resolution and conveyor stop judgment time can be set by

parameters.

– 9 – STE73828

INSTRUCTION MANUAL CONVEYOR SYNCHRONIZATION FUNCTION

3. Parameters

The parameters for the conveyor synchronization function are set in "[U20]

Conveyor Parameter" of user parameter file [USER.PAR]. The parameter format

is as shown below.

[U20] Conveyor Parameter

{Conveyor Parameter1(CH1,CH2)}

= 0 0 [1] Encoder rotating direction

= 3 3 [2] Encoder sampling period (ms)

= 0 0 [3] Conveyor stop judgment time (ms)

= 0 0 [4] Type of conveyor synchronization

= 0 0 [5] Dummy data

= 0 0 [6] Dummy data

= 0 0 [7] Dummy data

USER.PAR

{Conveyor Parameter2(CH1,CH2)}

= 0 0 [8] Travel value per pulse of encoder (µm/pulse)

= 0 0 [9] Rotation center position X of arc conveyor (mm)

= 0 0 [10] Rotation center position Y of arc conveyor (mm)

= 0 0 [11] Dummy data

= 0 0 [12] Dummy data

= 0 0 [13] Dummy data

= 0 0 [14] Dummy data

= 0 0 [15] Dummy data

– 10 – STE73828

Andere Handbücher für TS2000

Inhaltsverzeichnis

Andere Toshiba Controller Handbücher

Toshiba

Toshiba PROSEC T3H Bedienungsanleitung

Toshiba

Toshiba PROSEC T1 Bedienungsanleitung

Toshiba

Toshiba V Series Bedienungsanleitung

Toshiba

Toshiba 2000 Bedienungsanleitung

Toshiba

Toshiba TSL3000 Bedienungsanleitung

Toshiba

Toshiba TC78B002FNG Bedienungsanleitung

Toshiba

Toshiba TXZ+ Series Bedienungsanleitung

Toshiba

Toshiba OIS50 Bedienungsanleitung

Toshiba

Toshiba TS3000 Series Bedienungsanleitung

Toshiba

Toshiba V Series Bedienungsanleitung

Toshiba

Toshiba TS3000 Series Bedienungsanleitung

Toshiba

Toshiba RBC-AWSU52-UL Bedienungsanleitung

Toshiba

Toshiba V Series Bedienungsanleitung

Toshiba

Toshiba S15 Bedienungsanleitung

Toshiba

Toshiba TCB-SC640U Bedienungsanleitung

Toshiba

Toshiba TSL3000E Bedienungsanleitung

Toshiba

Toshiba TDP T3 Bedienungsanleitung

Toshiba

Toshiba TS3000 Series Bedienungsanleitung

Toshiba

Toshiba BMS-CT1280E Bedienungsanleitung

Toshiba

Toshiba EX500 Bedienungsanleitung

Toshiba

Toshiba TD Series Bedienungsanleitung

Toshiba

Toshiba SX 2000 Bedienungsanleitung

Toshiba

Toshiba TE3 Series Bedienungsanleitung

Toshiba

Toshiba nv-pack Bedienungsanleitung

Beliebte Controller Handbücher anderer Marken

Digiplex

Digiplex DGP-848 Betriebsanleitung

YASKAWA

YASKAWA SGM series Bedienungsanleitung

Sinope

Sinope Calypso RM3500ZB Bedienungsanleitung

Isimet

Isimet DLA Series Style 2 Installationshandbuch

LSIS

LSIS sv-ip5a Bedienungsanleitung

Airflow

Airflow Uno hab Bedienungsanleitung

ABB

ABB ACS580-01 drives Bedienungsanleitung

Panasonic

Panasonic GM1 Series Bedienungsanleitung

Emerson

Emerson SW93 Bedienungsanleitung

AutoAqua

AutoAqua Smart ATO micro SATO-120P Bedienungsanleitung

Panasonic

Panasonic FP? Positioning Unit RTEX Bedienungsanleitung

Alpha IP

Alpha IP MIOB 21001 Bedienungsanleitung

Siemens

Siemens OpenAir GMA 1 Series Bedienungsanleitung

Surecom

Surecom SR-629 Bedienungsanleitung

Regulus

Regulus SRS1 T Bedienungsanleitung

3M MicroTouch EX113 Bedienungsanleitung

KUHN

KUHN TKS Bedienungsanleitung

S&C

S&C PMH Bedienungs- und Wartungshandbuch