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3
I/O INTERF
ACE
3-7 I/O Assignment Change Function
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Jog movement (- direction) command (JOG-)
Moves the robot in jog mode along the - (minus) direction.
The robot moves in jog mode along the - (minus) direction as long as this signal is on. The
movement speed is 100mm/sec.
This speed can be changed by using SPD1 and SPD2. In this case, the movement speed is given
by the following equation.
Movement speed [mm/sec] = 100
×
(Movement speed [%] specified with SPD1 and SPD2) / 100
In jog mode the robot usually moves along the X-axis. However, the Y-axis can be specified
with DI13 and DI14 (pin No. B11 and A12) by enabling PRM10 (Control axis selection with I/
O command). (Refer to "PRM10: Control axis selection with I/O command".)
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CAUTION
• If the CHG (mode switch input) signal is switched during jog movement, the robot comes to an error stop.
• When specifying the axis, the DI13 and DI14 (pin No. B11 and A12) status must be checked beforehand.(Refer
to the Jog movement (JOG+, JOG-) timing chart in "3-7-3 Timing chart".)
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Point data write command (PSET)
Writes the current position data in the specified point number.
To use this command, the point number for writing the current position data must first be
specified using a PI (point number designation input) input.
The PSET is enabled only when return-to-origin has been completed.
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Mode switch input (CHG)
Switches the Type 3 (Point teaching type) mode. Selectable modes are as follows.
(1) Point trace mode
(2) Teaching mode
The Type 3 (Point teaching type) mode is switched to "Point trace mode" when the CHG signal
is off, and is switched to "teaching mode" when the CHG signal is on.
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CAUTION
If the CHG signal is switched during execution of a point movement command (ABS-PT, INC-PT) or jog
movement command (JOG+, JOG-), the robot comes to an error stop.
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