Timing Chart - Yamaha DRCX User Manual

3-7-3 Timing chart

This section shows timing charts for the operations that are added by changing the I/O assignment.
■ Jog movement (JOG+, JOG-)
Mode switch input (CHG)
Axis designation data
DI13, DI14
(Pin No. B11, A12)
JOG movement command
(JOG+ / JOG-)
END
BUSY
READY
Robot movement
(1) Turn on the CHG signal.
(2) To specify the movement axis, input the axis designation data to DI13 and DI14 (pin No. B11
and A12).
• The input status specified here must be kept unchanged until step (4) is complete. If this
input status is changed, the DRCX 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 DRCX 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, indicating that the jog
movement is normally complete.
c
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 DI13 and DI14 (pin No. B11 and A12) status must be checked beforehand.
(Refer to "PRM10: Control axis selection with I/O command".)
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Data retention
Robot movement
30ms or more 30ms or less 1ms or less
3-7 I/O Assignment Change Function
30ms or less 1ms or less
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