Yamaha ERCX Series, User Manual

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3-
31
3
I/O INTERF
ACE
3-7 I/O Assignment Change Function
(2) Outputting the point number at the timing that a movement command is received
Point movement command
(ABS-PT, INC-PT)
Movement
q
Command
q
Command
w
Point number output
q
Point number output
w
*: The number of point number outputs that can be used depends on the I/O assignment type.
Target position's point number
outputs 0 to 5*
(PO0 to PO5)
Robot movement
Movement
w
END
BUSY
30ms or less 1ms or less 1ms or less 30ms or less 1ms or less 1ms or less
Precondition: 1) The following steps are explained assuming that PRM59=130.
I/O assignment type
Permissible number of movement points
Point output selection
When the PRM59 setting = 130
Type 3 (point teaching type)
64 points
Point No. output to PO when movement command is received
2) The point numbers of the target positions are designated before running a
point movement command (ABS-PT, INC-PT).
[Point movement command execution
q
]
(1) Turn on the ABS-PT (or INC-PT).
(2) The END signal turns off and the BUSY signal turns on, indicating that the ERCX received
the point movement command.
(3) When the BUSY signal turns on in step (2), the target position's point number is output from
the specified point number (PO0 to PO5).
• The output status of the target position's point number is retained until the next point
movement command is received.
(4) Turn off the ABS-PT (or INC-PT).
(5) Wait until the BUSY signal turns off.
(6) The BUSY signal turns off. The END signal should be on at this point, indicating that the
point movement finished normally.
↓
[Point movement command execution
w
]
(7) Execute the next point movement command.
(8) When the ERCX received the point movement command and the BUSY signal turned on,
the previous target position's point number being output from the specified point number
(PO0 to PO5) is cleared and the current target position's point number is then output.
c
CAUTION
If moving the robot to point 0 by specifying it with a point movement command that is first executed after
turning on the controller, all of PO0 to PO5 still remain off (because P0 = 000000
(binary)
) even after the robot
has moved to point 0. This means that the PO0 to PO5 status does not change even after specifying P0 as the
target position, so no information is available to indicate whether the movement command to P0 was received.
This should be kept in mind when moving the robot to point 0.