Hyundai HI4 operation manual Conveyor operation, T O, RobotH120, 6axes Steps

5. Application condition

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5.1 Conveyor operation

Outline

It determines the movement of robot when robot handles workpiece on conveyor,

①Normal : Robot moves synchronously according to actual movement of workpiece on conveyor.

②Simulation : Without operating conveyor, user can operated robot movement by entering conveyor speed. It is useful to check cycle time after teaching.

③ Test : Like plat test, it is the condition where conveyor is not operated and robot movement can be checked. Different aspects from plan test is that teaching point can be checked at stop condition of workpiece as pulse count is not reset even though executing Program END

Reference

„Depending on setting condition for conveyor movement, the following is displayed in manual or auto mode.

14:39:38		*** A U T O ***		A:0 S:4
T0		C-N	SR:100% 1Cycl
PN:100[*]__ S/F:4/0
	Robot:H120, 6axes,		10 steps
S1	MOVE P,S=100%,A=0,T=1
S2	MOVE P,S=100%,A=0,T=1
S3	MOVE P,S=100%,A=0,T=1
S4	MOVE P,S=100%,A=0,T=1
S5	MOVE P,S=100%,A=0,T=1
S6	MOVE P,S=100%,A=0,T=1
S7	MOVE P,S=100%,A=0,T=1
S8	END
>
Service		Rel WAIT		Cond Set

According to the Mode,“C-N","C-S"," C-T" are displayed.

„Conveyor pulse count not to related move type is only counted by activation of limit switch.

„In simulation, value calculated from distant is not always correct because pulse counter of conveyor is separated from registry

„Normally, in playback mode, conveyor speed has actual movement speed of conveyor, but, in plan test operation, plan test speed entered from user is always 0 value.

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