Manual Control Of General-Purpose Output - Yamaha DRCX User Manual

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 DRCX 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 point where you
want to use a general-purpose output, tempo-
rarily stop the operation and press
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 DO12, press
few times to change the menu display.
4) Press to return to step 2.
ESC
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7-4 Manual Control of General-Purpose Output
[EDIT-PNT-TCH](1) 50
(DO).
F2
P0
[
1CHG 2DO
[EDIT-PNT-TCH](1) 50
DO 0=0 DO 1=0 DO 2=0
DO 3=0 DO 4=0 DO 5=0
1DO0 2DO1 3DO2 4next
(next) a
F4
[EDIT-PNT-TCH](1) 50
P0
[
1CHG 2DO
X=0.00 [mm]
0.00, 0.00]
3Y 4next
X=0.00 [mm]
0.00, 0.00]
3Y 4next
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