40
CHAPTER2 PROFIBUS Unit
2-9-4
I/O signal descripion
The meaning of each signal is explained below. For the meaning of signals not described
here, refer to "2-7-2 Dedicated command input" and the following sections.
■
Point number designation inputs 200 to 205 (PI200 to PI205)
These inputs designate the point number of the target position where the robot moves
with a point movement command (ABS-PT, INC-PT). (For details on the ABS-PT
and INC-PT commands, see 2-7-2, "Dedicated command input" in this chapter.)
These inputs are also used to designate the point number of the target position
where point data is written with a point data write command (PSET).
The point number of the target position must be specified before running a point
movement command or point write command. The point number is specified by a
binary code. See the table below to specify each point number.
Point number designation example
PI205
(2
5
)
PI No.
Point No.
P0
P1
P7
P15
P31
P63
OFF
OFF
OFF
OFF
OFF
ON
PI204
(2
4
)
OFF
OFF
OFF
OFF
ON
ON
PI203
(2
3
)
OFF
OFF
OFF
ON
ON
ON
PI202
(2
2
)
OFF
OFF
ON
ON
ON
ON
PI201
(2
1
)
OFF
OFF
ON
ON
ON
ON
PI200
(2
0
)
OFF
ON
ON
ON
ON
ON
■
Movement speed setting (SPD201, SPD202)
Designates the speed at which the robot moves with a point movement command
(ABS-PT, INC-PT) or jog movement command (JOG+, JOG-). (For details on the
ABS-PT and INC-PT commands, see 2-7-2, "Dedicated command input" in this
chapter.)
The movement speed must be specified before running a point movement com-
mand or jog movement command. See the table below to specify the movement
speed.
Movement speed setting example
SPD202 SPD201
OFF
ON
OFF
ON
Movement speed
100%
I/O point movement command first speed
(single-axis controllers: PRM41, dual-axis controllers: PRM5)
I/O point movement command second speed
(single-axis controllers: PRM42, dual-axis controllers: PRM6)
I/O point movement command third speed
(single-axis controllers: PRM43, dual-axis controllers: PRM7)
OFF
OFF
ON
ON
■
Jog movement (+ direction) command (JOG+)
Moves the robot in jog mode along the + (plus) direction.
The robot moves in jog mode along the + (plus) direction as long as this signal is
on. The movement speed is 100mm/sec.
This speed can be changed by using SPD201 and SPD202. In this case, the
movement speed is given by the following equation.
Movement speed [mm/sec] = 100
×
(Movement speed [%] specified with SPD201 and SPD202) / 100
In the case of dual-axis controllers, the X-axis is usually used for jog movement.
However, the Y-axis can be specified with SI213 and SI214 by enabling PRM10
(Control axis selection with I/O command). (Refer to "PRM10: Control axis
selection with I/O command" in the DRCX controller user's manual.)
