When Executing A Point Movement Command - Yamaha DRCX User Manual

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. When specifying the robot axis, the
axis selection data must be input.
The point data and speed data can be specified with DI0 to DI11. Refer to "3-2-2 General-
purpose input (DI0 to DI15)". The axis selection data input is designated with DI13 to DI14.
(Refer to "3-2-2 General-purpose input (DI0 to DI15)".)
Point data (DI0 to 9)
Speed data (DI10 to 11)
Axis selection data (DI13 to 14)
Point movement command
(ABS-PT, INC-PT)
BUSY
Actual robot operation
END
(1) Specify the point data and speed data, using the general-purpose input DI0 to DI11. When
specifying the robot axis, the axis selection data should be input to DI13 and DI14. 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.
Then, the point data, speed data (DI0 to DI11) and axis selection data (DI13 and DI14) can be
changed 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.
Data retention
Robot movement
30ms or more