45
CHAPTER2 PROFIBUS Unit
2-9-5
Timing chart
This section shows timing charts for the operations that are added by changing the I/O
assignment.
■
Jog movement (JOG+, JOG-)
CHG
(Mode switch input)
(JOG movement command)
END
BUSY
READY
Robot movement
Robot movement
Data retention
30ms or less
30ms or more
30ms or less 1ms or less
1ms or less
JOG+/JOG
Axis designation data *
SI213, SI214
* For dual-axis controllers only. 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).
(1)
Turn on the CHG signal.
(2)
To specify the movement axis by a dual-axis controller, input the axis designa-
tion data to SI213 and SI214.
• The input status specified here must be kept unchanged until step (4) is
complete. If this input status is changed, the controller might misrecognize
the data.
(3)
Turn on the JOG+ (or JOG-) input signal while the CHG signal is on.
(4)
The END signal turns off and the BUSY signal turns on, indicating that the
controller received the jog movement command.
(5)
The robot moves in jog mode as long as the JOG+ (or JOG-) input signal is on.
(6)
Turn off the JOG+ (or JOG-) input signal.
(7)
Wait until the BUSY signal turns off.
(8)
The BUSY signal turns off. The END signal should be on at this point, indicat-
ing that the jog movement is normally complete.
!
CAUTION
• If the CHG signal is switched during execution of a jog movement command
(JOG+, JOG-), the robot comes to an error stop and the END signal remains
off.
• When specifying the axis, the SI213 and SI214 status must be checked before-
hand. (Refer to "PRM10: Control axis selection with I/O command" in the
DRCX controller user's manual.
