5.19 Playback
5-46
5.19.2
Automatic Correction of Shift Value
During playback operation, as the station is controlled by the leader job, the follower job con-
trols only the follower manipulator.
If there is a shift between the teaching position of the leader job station and the station current
position (controlled by the leader job), the follower manipulator moves correcting automatically
the shift value in order to keep the position on the station at teaching.
The shift between the teaching position and the station current position is always monitored.
If the shift value exceeds the set value of parameter, the following message is displayed.
The control method of manipulator posture during correction is set by the following parameter.
Parameter
Contents and Set Value
Initial Value
S3C809
Maximum shift angle of station axis in twin
(triple) synchronous system
Differs depending on system
(in units of 0.1
)
Parameter
Contents and Set Value
Initial Value
S2C322
Control method of follower manipulator
posture in twin (triple) synchronous sys-
tem
0: Follow the motion of station
1: Constant to the earth
0
shift
Correctin
Station
Position at teaching
Position at playback
Short Cut
Main Menu
PULSE LIMIT (TWIN COORDINATED)
0: Follow the motion of station
1: Constant to the earth
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