Instruction manual

Line 1
Line 2
Robot 2
Robot 1
Belt conveyor flow
Accepted
products
P1
P2
Inspect
Rejects
With the operation start of the master axis, same commands start to be transmitted to both the master and slave axes, which
achieves a tandem operation.
While linear interpolation is performed, the target position can be changed by rewriting the position data of the point table and then
turning ON Position change command (PCHG).
Thus, tact time is shortened by changing the target position during the operation.
The axes move to the new target position through an arc trace in order to maintain the speed.
Tandem Operation
Position Change Function
During automatic operation, interrupts are outputted when axes pass the specified position.
After that, the corresponding interrupt process of the user program is started.
●
High-speed event processing start on host side (OS) is possible based on the servo axis position
●
A total of 64 points can be specified for pass position data of all axes
Pass Position Interrupt Function
This function automatically starts other axes according to its startup condition and its operation pattern.
Tact time of assembly machines, etc. is shortened with this automatic startup via controllers.
Other Axes Start Function
●
Synchronous operation
●
Check for deviations in
synchronization
●
Stop processing in case servo
error occurs
●
Simultaneous home position
return of multiple axes
●
JOG operation
[
Functions
]
Axis 2
Axis 1
Operation start (ST)
Operation (OP)
Operation (OP)
Other axes start
notice (OSOP1)
Other axes start
completion (OSFIN1)
Other axes start condition is met
Automatic start of other
axes (Axis 1)
End point
Start point
P1 P2
Target position
of axis 2
Target position
of axis 1
Automatic
start of axis 2
Automatic
start of axis 1
Vision processing
Vision camera takes the photos
END
COGNEX
vision system
1. Compensation
position data
2. Change the
target position.
3. Move the wafer to the new
target position.
P1
(The original
target position)
P2 (New target position)
Change the
target position
P1
P2
Pass position interrupt
Pass position interrupt
Tandem operation system
MR-MC21n
Q173SCCF
MR-MC21n
Q173SCCF
MR-MC21n
Q173SCCF
MR-MC21n
Q173SCCF
Application example:
Product handling equipment
Application example:
inspection machine
Master axis Slave axis
Operation example
1. Axis 2 moves to P1 from its start point.
2. When axis 2 passes the specified point, axis 1 automatically starts.
3. Axis 2 reaches P1.
4. When axis 1 passes the specified point, axis 2 automatically starts.
5. Axis 1 reaches P2.
6. Axis 2 reaches the end point.
Operation example
1. Detect the compensation position with the vision system.
2. The target position is changed from P1 to P2 with the user program.
3. Move the wafer to the new target position.
Operation example
1. As the axes are moving to P2 from
P1, the interrupt occurs.
2. The vision camera takes photos of
the work piece while processing the
interrupts.
3. The position data is read.
The vision camera takes photo
responding to the interrupts.
Thus by taking photos periodically
with interrupts, more accurate
position data is available.
Axis 1
Axis 2
Axis 1
Axis 2
Ethernet
t
v
9
10