Point Data Writing - Yamaha TS-S User Manual

Yamaha single-axis robot controller ts series
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5.5
Point data writing
Point data is written.
Input
Output
Commands and data
n
Command (WIN0)
Point No. (WIN1)
0200h
0201h
0202h
0203h
0204h
0205h
0206h
0207h
0208h
0209h
020Ah
020Ch
c
CAutIoN
Because an EEpRoM is used as the RoM, the number of writing operations is limited. users should therefore refrain
from writing unnecessary data to the RoM.
n
NOTE
Data which has been written to the RAM is not saved to memory, and the original data is restored when a restart
occurs. To save the RAM data to memory, the "operation type" must be written after writing each data item.
TIP
For point data details, see section 2, "Point data", in Chapter 3.
Command Option
WIN3
Data
Command Response
WOUT3
-
Command Option
Data (WIN2, WIN3) Standard Setting
Operation type
Position
Speed
Acceleration
1(0001h)
Deceleration
to
Push force
255(00FFh)
Zone (-)
Zone (+)
Near width
Jump
Flag
Timer
WIN2
WIN1
Point No.
WOUT2
WOUT1
Point No. (response)
Units
Custom Setting
-
Other than TS-P
: 0.01mm
TS-P
: 0.001mm
%
Other than TS-P : 0.01m/s
%
TS-P
%
%
Other than TS-P
: 0.01mm
TS-P
: 0.001mm
Other than TS-P
: 0.01mm
TS-P
: 0.001mm
Other than TS-P
: 0.01mm
TS-P
: 0.001mm
-
-
ms
Command
WIN0
02xxh
Status
WOUT0
0200h
Data Write
Destination
ROM
RAM
0.01mm/s
RAM
2
RAM
2
: 0.001m/s
RAM
RAM
ROM
ROM
ROM
ROM
ROM
ROM
5-37
5

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