Yamaha SRCP manual When executing a point movement command

3-6 I/O Control Timing Charts

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3-6-6 When executing a point movement command

■When executing a point movement command (ABS-PT, INC-PT), the point data and speed data must first be input before inputting the command.

The point data and speed data can be specified with DI0 to DI7 (or DI0 to DI6 when SERVICE mode is enabled). Refer to "3-2-2 General-purpose input (DI0 to DI7)".

Point data (DI0 to 7)

Speed data

Data retention

I/O INTERFACE

Point movement command (ABS-PT, INC-PT)

BUSY

Actual robot operation Robot movement

END

30ms or more

(1)Specify the point data and speed data, using the general-purpose input DI0 to DI7. These input conditions should be kept unchanged until the BUSY signal turns on. (If these conditions are changed before the BUSY signal turns on, then the data might be misrecognized.)

(2)When a minimum of 30ms has elapsed, input the point movement command (ABS-PT, INC- PT).

(3)At the rising edge of the dedicated command input, the END signal turns off and the BUSY signal turns on.

(4)Turn off (contact open) the dedicated command input after checking that the BUSY signal turns on.

Now, you may change the point data and speed data (DI0 to DI7) for the next movement.

(5)Wait until the BUSY signal turns off.

(6)The END signal should be on when the BUSY signal turns off, indicating that the command has ended normally.

n NOTE

The number of general-purpose input (DI) points used to specify the point numbers and speed differs depending on whether SERVICE mode is enabled or disabled and also on the PRM7 (I/O point movement command speed parameter) setting. See "3-2-2 General-purpose input (DI0 to DI7)".

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