Yamaha TS-S User Manual page 136

Yamaha single-axis robot controller ts series
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Point data writing
n
Operation type write
Position write
Speed write
Acceleration write
Deceleration write
Push force write
Zone (-) write
Zone (+) write
"Near width" write
Jump write
Flag write
Timer write
5
n
NOTE
• "Position", "speed", "acceleration", "deceleration", and "push force" writing occurs in the RAM. To save the data
to memory, the "operation type" must be written after writing each of these data items.
• The permissible point No. setting range at the command option is "1 (0001h) to 255 (00FFh)". When a command
is executed, a point No. answerback is returned to the command response (WOUT1).
Point data reading
n
Operation type read
Position read
Speed read
Acceleration read
Deceleration read
Push force read
Zone (-) read
Zone (+) read
"Near width" read
Jump read
Flag read
Timer read
n
NOTE
• The permissible point No. setting range at the command option is "1 (0001h) to 255 (00FFh)".
• 2-word data is registered (Little Endian) at the command response (WOUT2, WOUT3).
5-32
Command
Name
WIN0
0200h
0201h
0202h
0203h
0204h
0205h
0206h
0207h
0208h
0209h
020Ah
020Ch
Command
Name
WIN0
0300h
0301h
0302h
0303h
0304h
0305h
0306h
0307h
0308h
0309h
030Ah
030Ch
Command Option
WIN1
WIN2, WIN3
Point No.
Operation type
Point No.
Position data
Point No.
Speed data
Point No.
Acceleration data
Point No.
Deceleration data
Point No.
Push force data
Point No.
Zone (-) data
Point No.
Zone (+) data
Point No.
"Near width" data
Point No.
Jump data
Point No.
Flag data
Point No.
Timer data
Command Option
WIN1
WIN2, WIN3
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Command Response
WOUT1
WOUT2, WOUT3
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Point No.
-
Command Response
WOUT1
WOUT2, WOUT3
Point No.
Operation type
Point No.
Position data
Point No.
Speed data
Point No.
Acceleration data
Point No.
Deceleration data
Point No.
Push force data
Point No.
Zone (-) data
Point No.
Zone (+) data
Point No.
"Near width" data
Point No.
Jump data
Point No.
Flag data
Point No.
Timer data

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