Synchronisation with the conveyor system
The NC commands #SYNC IN and #SYNC OUT are provided for synchronising and desynchronising the coordinate system with the conveyor.
The synchronisation process first waits for the measurement of the actual position value of the master axis (conveyor system) at the time when the workpiece is measured. The measurement is sent over the configured axis measuring interface and is commanded by the PLCopen command MC_TouchProbe. This command can be issued either by programming in the NC program or by the PLC. After the command is issued, the measurement is event-controlled based on the configured trigger. For example, the trigger may be issued by the PLC, e.g. a light barrier or a camera.
When the measurement is complete, the actual position at the time of measurement is used to couple the co-moving coordinate system PCS1 with the conveyor belt.
The NC command #SYNC IN does not initially trigger a synchronisation movement with the conveyor. It only causes a change in the stationary basic coordinate system PCS0 so that the co-moving coordinate system PCS1 can be tracked on the conveyor. The synchronisation movement is only started in the NC program when the next movement on the workpiece contour is initiated.
Notice
The first movement after the NC command #SYNC IN is the synchronisation movement with the conveyor and must be of type G00 or G01.
Synchronisation takes place with the coordinates programmed in the motion block in the co-moving PCS1 coordinate system. The PTP movement towards the programmed target point is started simultaneously in all axes. In general, the axes do not reach the target point at the same time.
This synchronisation movement only takes place after the measurement.
Additional coordinate systems can only be programmed after this synchronisation movement. It is important to always program the selection of a kinematic transformation outside #SYNC IN/ OUT.
The coupling to the workpiece on the conveyor is released when desynchronisation takes place with the NC command #SYNC OUT. As with #SYNC IN, this command does not yet cause a desynchronisation movement but only changes the programming coordinate system to the machine coordinate system (MCS). The desynchronisation movement is programmed in the first block after #SYNC OUT.
Notice
The desynchronisation movement must be programmed as an independent movement.
This independent movement with identifier “INDP_ASYN” is used to move the axes in PTP mode to the target coordinate programmed in the MCS after a #SYNC OUT command. This movement takes place as a single-axis movement, meaning that the axes do not follow a defined path. This synchronisation movement can be interrupted by a following #SYNC IN to permit an on-the-fly change to a new synchronisation process.
When #SYNC IN is programmed, the program automatically switches over to a jerk-limited slope. The acceleration profile cannot be switched over within the #SYNC IN/OUT function.