Yamaha ERCX Series, Руководство пользователя

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3-
30
3
I/O INTERF
ACE
3-7 I/O Assignment Change Function
■
Target position's point number output (PO)
(1) Outputting the point number at the timing that movement is normally completed
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=30.
I/O assignment type
Permissible number of movement points
Point output selection
When the PRM59 setting = 30
Type 3 (point teaching type)
64 points
Point No. output to PO when movement ends normally
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) Turn off the ABS-PT (or INC-PT).
(4) Wait until the BUSY signal turns off.
(5) The BUSY signal turns off. The END signal should be on at this point, indicating that the
point movement is normally finished.
(6) When the END signal is on in step (5), 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 execution of the
next point movement command is complete.
↓
[Point movement command execution
w
]
(7) Execute the next point movement command.
(8) Point movement ends.
(9) The END signal turns 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 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 the robot has moved to P0, so no
information is available to indicate whether the robot motion to P0 is complete (or whether the movement
command was received). This should be kept in mind when moving the robot to point 0.