Omron R6YXC1000, Руководство пользователя, Страница: 178 / 260

9
Specifica
tions
9-2
O
pti
on
O
pt
ion
board*
Parallel I/O
board
Standard
specifications
Dedicated input 8 points, dedicated output 9 points
General-purpose input 16 points, general-purpose output 8 points
(Max. 1 board, NPN/PNP specifications)
Expanded
specifications General-purpose input 24 points, general-purpose output 16 points
(Max. 4 boards, NPN/PNP specifications)
DeviceNet board
Remote I/O
Dedicated I/O: 16 points each
General-purpose I/O: 96 points each
Remote register
I/O: 16 words each
EtherNet I/P board
PROFIBUS board
PROFINET board
YC-Link/E board
(Master/Slave)
Communication cycle: 1ms, Control cycle: Min. 1ms/Max. 8ms, Max. number of robots: 4
Max. number of controllable axes: 16 in total (including 4 axes of the master controller)
Max. 12 only when using the slave
Tracking board
Number of connected encoders: Max. 2,
Applicable encoder: 26LS31/26C31 or equivalent line driver (RS422 compliance)
Encoder power supply: 5VDC (Total of less than 500mA for both channels)
(Supplied from controller)
Programming box PBEX (with enable switch)
Absolute battery 3.6 V, 2750 mAH/axis Backup retention time: about 1 year
PC software SCARA-YRCX Studio
*The number of the option board slots which can be attached is max.4.
1.2 Basic functions
Function Description
Operation modes
AUTO mode (Major functions: program creation, program execution, step execution, etc.)
MANUAL mode (Major functions: jog movement, point data teaching, parameter editing, etc.)
Commands
Array declaration commands (DIM statement)
Assignment commands (Numeric assignment, character string assignment, point definition statements, etc.)
Movement commands (MOVE, DRIVE, PMOVE statements, etc.)
Conditional branching commands (IF, FOR, WHILE statements, etc.)
External output commands (DO, MO, LO, TO, SO statements)
Parameter commands (ACCEL, OUTPOS, TOLE statements, etc.)
Condition wait command (WAIT statement)
Task related commands (START, SUSPEND, CUT statements, etc.) etc.
Functions
Arithmetic functions (SIN, COS, TAN functions, etc.)
Character string functions (STR$, LEFT$, MID$, RIGHT$ functions, etc.)
Point functions (WHERE, JTOXY, XYTOJ functions, etc.)
Parameter functions (ACCEL, OUTPOS, TOLE statements, etc.) etc.
Variables
Simple variables (integer variables, real variables, character variables)
Array variables (integer variables, real variables, character variables)
Point variables
Shift variables
I/O variables etc.
Arithmetic operation
Arithmetic operators (+, -, *, /, MOD)
Logic operators (AND, OR, XOR)
Relational operators (=, <, >, <>, <=, >=)
Monitor I/O status monitor (200 ms intervals)
Online commands
Program operation commands (RUN, STOP, RESET, STEP, etc.)
Utility commands (COPY, ERA, INIT, etc.)
Data handling commands (READ, WRITE, etc.)
Robot language commands (independent-executable commands)
Data files Program, point, parameter, shift, hand, all, error history etc.
Internal timer Timer count variable (TCOUNTER), 1 ms interval
Program break points Max. 32 points