Yamaha ERCX Series, User Manual

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I/O INTERF
ACE
3-7 I/O Assignment Change Function
3-7-3 Timing chart
This section shows timing charts for the operations that are added by changing the I/O assignment.
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Jog movement (JOG+, JOG-)
Mode switch input (CHG)
Jog movement command (JOG+ / JOG-)
READY
END
BUSY
Robot movement
30ms or less 1ms or less 30ms or less 1ms or less
Robot movement
(1) Turn on the CHG signal.
(2) Turn on the JOG+ (or JOG-) input signal while the CHG signal is on.
(3) The END signal turns off and the BUSY signal turns on, indicating that the ERCX received
the jog movement command.
(4) The robot moves in jog mode as long as the JOG+ (or JOG-) input signal is on.
(5) Turn off the JOG+ (or JOG-) input signal.
(6) Wait until the BUSY signal turns off.
(7) The BUSY signal turns off. The END signal should be on at this point, indicating that the jog
movement is normally complete.
c
CAUTION
If the CHG signal is switched during execution of a jog movement command (JOG+, JOG-), the robot comes to
an error stop and the END signal remains off.