Instructions For The Servofloat Function; Floaton Instruction; Floatof Instruction; Spdl Tag - YASKAWA DX100 Instructions Manual

DX100
4

Instructions for the Servofloat Function

4.1
4.2
4.3
4 Instructions for the Servofloat Function
4.1

FLOATON Instruction

FLOATON Instruction
FLOATON is an instruction to enable and start the link servofloat function
or the linear servofloat function.
Additional items for the FLOATON instruction are as follows:
FLOATON
A. FL# ( ) (Setting range: 1 to 8)
Sets the link servofloat condition file number.
B. LFL# ( ) (Setting range: 1 to 8)
Sets the linear servofloat condition file number.

FLOATOF Instruction

FLOATOF is an instruction to disable and end the link servofloat function
or the linear servofloat function. The servofloat function can be also
disabled by performing servo OFF.
FLOATOF

SPDL Tag

The SPDL tag is a stop confirmation tag with which a motion is completed
when the number of speed feedback pulses of all the axes becomes less
than a constant value.
Use an SPDL tag to confirm the end of a motion caused by an external
force. Add it to the move instruction immediately before the FLOATOF
instruction.
If the move instruction is completed with a SPDL tag added, the next
instruction will not be performed as long as the manipulator is being
moved by an external force.
Only "0" can be set for the SPDL tag.
An example of an SPDL tag added to a move instruction is shown as
follows:
MOVJ VJ=50.00 SPDL=0
4-1
A
FL#(1 to 8)
B
LFL#(1 to 8)
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