Yamaha DRCX User Manual page 58

■ Target position's point number output (PO)
(1) Outputting the point number at the timing that movement is normally completed
Axis designation data
DI13, DI14
(Pin No. B11, A12)
Point movement command
(ABS-PT, INC-PT)
Target position's point number
outputs 0 to 5*
(PO0 to PO5)
END
BUSY
Robot movement
Precondition: 1) The following steps are explained assuming that PRM26=30.
[Point movement command execution q]
(1) 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 (3) is complete. If this
input status is changed, the DRCX controller might misrecognize the data.
(2) Turn on the ABS-PT (or INC-PT).
(3) The END signal turns off and the BUSY signal turns on, indicating that the DRCX received
the point movement command.
(4) Turn off the ABS-PT (or INC-PT).
(5) Wait until the BUSY signal turns off.
(6) The BUSY signal turns off. The END signal should be on at this point, indicating that the
point movement is normally finished.
(7) When the END signal is on in step (6), 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]
(8) Execute the next point movement command.
(9) Point movement ends.
(10)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.
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Data retention q
Command q
Movement
q
30ms or more 30ms or more
30ms or less 1ms or less 1ms or less
* The number of point number outputs that can be used depends on the I/O assignment type.
When the PRM26 setting = 30
I/O assignment type
Permissible number of movement points
Point output selection
2) The point numbers of the target positions are designated before running a
point movement command (ABS-PT, INC-PT).
3-7 I/O Assignment Change Function
Data retention w
Command w
Point number output q Point number output w
Movement
w
30ms or more 30ms or more
30ms or less 1ms or less 1ms or less
Type 3 (point teaching type)
64 points
Point No. output to PO when movement ends normally
3
31
3-