Yamaha ERCX Series, User Manual

Page: 111 / 260

7-
7
7
EDITING POINT DA
TA
7-4 Manual Control of General-Purpose Output
7-4 Manual Control of General-Purpose Output
When performing teaching playback or direct teaching with systems that use a general-purpose
output through the I/O interface to operate a gripper or other tools, you may want to check the
position of workpiece by actually moving it.
For this reason, the ERCX controller is designed to allow manual control of general-purpose outputs
from the TPB.
1) Move the robot with the same procedure up to
step 6 in "7-2 Teaching Playback" or up to step
7 in "7-3 Direct Teaching".
The following steps are explained using the
teaching playback screen.
2) When the robot reaches the position where you
want to operate general-purpose output, stop
the robot. Then press
F4
(next) to change the
menu display and then press
F1
(DO).
[EDIT-PNT-TCH](1) 50
P0 = 0.00 [mm]
[ 0.00]
[EDIT-PNT-TCH](1) 50
DO 0=0 DO 1=0 DO 2=0
DO 3=0 DO 4=0 DO 5=0
1DO0 2DO1 3DO2 4next
[EDIT-PNT-TCH](1) 50
P0 = 0.00 [mm]
[ 0.00]
1DO 2TRC 3 4next
1CHG 2SPD 3S_SET 4next
3) The current status of the general-purpose out-
put appears on the screen.
Press the function key that matches the DO
number to switch the output on and off (on=1,
off=0).
If selecting DO3 to DO12, press
F4
(next) a
few times to change the menu display.
4) Press
ESC
to return to step 2.