Shibaura CA20-M10, Руководство по эксплуатации

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11
– 8

11.2.4 Jog input/output
(1)
List of jog input/output signals
Signal direction:
CC-Link master station

CA20
–M10–CC
Signal direction:
CC-Link master station

CA20
–M10–CC
Input Device No. Signal name Output Device No. Signal name
RX(n+4)8
Axis 1 "jogging" output
RY(n+4)8
Axis 1 "request jog" input
RX(n+4)9
Axis 2 "jogging" output
RY(n+4)9
Axis 2 "request jog" input
RX(n+4)A
Axis 3 "jogging" output
RY(n+4)A
Axis 3 "request jog" input
RX(n+4)B
Axis 4 "jogging" output
RY(n+4)B
Axis 4 "request jog" input
RX(n+4)C
Jog-ready output
RY(n+4)C
"Request inching" input
RX(n+4)D
Unused
RY(n+4)D
"Request low-speed jog" input
RX(n+4)E
Unused
RY(n+4)E
"Request high-speed jog" input
RX(n+4)F
Unused
RY(n+4)F
"Designate jog direction" input
OFF: + direction
ON:
– direction

When the jog conditions (inching request, low-speed jog request, high-speed jog request) and
jog direction are specified, and the jog request is ON, the corresponding axis performs the jog
operation. (Refer to Fig. 11.2.4-1.)

Jogging by I/O signal is not accepted as long as the jog ready output signal is OFF. The jog
ready output signal is OFF under the following conditions.

While the robot is controlled through the teach pendant (T/P).

While the T/P is connected and turned on.

While the robot is controlled by the personal computer software.

While the execution screen of the personal computer software is opened.

While the "running" output is ON.

While the error output is ON.

When the multiple bits for the "request inching" input, "request low-speed jog" input and
"request high-speed jog" input are ON, the motions are executed according to the following
order.
Inching > Low-speed jog > High-speed jog

It is not possible to simultaneously move two (2) or more axes at jogging. Move each axis
separately.

The axis stops if the communication through the CC-Link has been severed during jogging.