Turning On General-Purpose Outputs During Robot Movement After A Certain Time Has Elapsed - Yamaha DRCX User Manual

8-5-22 Turning ON general-purpose outputs during robot
movement after a certain time has elapsed
P0
Program
[NO0]
001: L
002: MOVA
003: DO
004: DO
005: DO
006: TON
007: MOVA
008: JMP
Program
[NO1]
001: TIMR
002: DO
003: TIMR
004: DO
005: TIMR
006: DO
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3 sec. 3 sec. 3 sec.
DO0=1 DO1=1
Point
P0 Start position
P1 Target position
Comment
; Label definition
0
; Moves to P0 at speed 100
0, 100
; Turns DO0 off
0, 0
; Turns DO1 off
1, 0
; Turns DO2 off
2, 0
0 ; Starts program NO1 as task 1
1, 1,
; Moves to P1 at speed 10
1, 10
; Returns to L0
0, 0
Comment
; Delays for 3 seconds
300
; Turns DO0 on
0, 1
; Delays for 3 seconds
300
; Turns DO1 on
1, 1
; Delays for 3 seconds
300
; Turns DO2 on
2, 1
8-5 Sample Programs
P1
DO2=1
8
57
8-