7-4 Manual Control of General-Purpose Output

7-4 Manual Control of General-Purpose Output

When performing teaching playback or direct teaching with systems that use a general-purpose output through the I/O interface to operate a gripper or other tools, you may want to check the position of workpiece by actually moving it.

For this reason, the SRCP controller is designed to allow manual control of general-purpose outputs from the TPB.

1)Move the robot with the same procedure up to step 6 in "7-2 Teaching Playback" or up to step 7 in "7-3 Direct Teaching".

The following steps are explained using the teaching playback screen.

2)When the robot reaches the position where you want to operate general-purpose output, stop the robot. Then press F4 (next) to change the menu display and then press F1 (DO).

[EDIT-PNT-TCH](1) 50

P0 = 0.00 [mm]

[ 0.00] 1CHG 2SPD3S_SET4next

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3)The current status of the general-purpose out- put appears on the screen.

Press the function key that matches the DO number to switch the output on and off (on=1, off=0).

If selecting DO3 to DO5, press F4 (next) to change the menu display.

4)Press ESC to return to step 2.

[EDIT-PNT-TCH](1) 50 DO 0=0 DO 1=0 DO 2=0 DO 3=0 DO 4=0

1DO0 2DO1 3DO2 4next

[EDIT-PNT-TCH](1) 50

P0 = 0.00

 

[mm]

[

0.00]

 

DO

 

TRC

 

 

 

 

next

1

2

3

4

EDITING POINT DATA

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Yamaha SRCP manual Manual Control of General-Purpose Output, Trc