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3-7-2 I/O signal descripion
The meaning of each signal is explained below.
■ Point number designation inputs 0 to 5 (PI0 to PI5)
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 3.2.1, "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
PI No.
PI5
5
Point No.
(2
P0
OFF
P1
OFF
P7
OFF
P15
OFF
P31
OFF
P63
ON
■ Movement speed setting (SPD1, SPD2)
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 3.2.1, "Dedicated command input" in this chapter.)
The movement speed must be specified before running a point movement command or jog
movement command. See the table below to specify the movement speed.
Movement speed setting example
SPD2 SPD1
Movement speed
OFF
OFF
OFF
ON
ON
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 SPD1 and SPD2. In this case, the movement speed is given
by the following equation.
Movement speed [mm/sec] = 100 × (Movement speed [%] specified with SPD1 and SPD2) / 100
In jog mode the robot usually moves along the X-axis. However, the Y-axis can be specified
with DI13 and DI14 (pin No. B11 and A12) by enabling PRM10 (Control axis selection with I/
O command). (Refer to "PRM10: Control axis selection with I/O command".)
c
CAUTION
• If the CHG (mode switch input) signal is switched during jog movement, the robot comes to an error stop.
• When specifying the axis, the DI13 and DI14 (pin No. B11 and A12) status must be checked beforehand.(Refer
to the Jog movement (JOG+, JOG-) timing chart in "3-7-3 Timing chart".)
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PI4
PI3
PI2
4
3
2
)
(2
)
(2
)
(2
)
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
ON
ON
ON
ON
ON
ON
ON
ON
100%
PRM5
PRM6
PRM7
3-7 I/O Assignment Change Function
PI1
PI0
1
0
(2
)
(2
)
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
ON
3
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Troubleshooting
