Timing Chart - Yamaha TS-S User Manual

Yamaha single-axis robot controller ts series
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5.3
Timing chart
This section explains the remote command input/output timing charts using remote command execution
flowcharts and examples.
When executing a quer y
n
[Example] Executing "current position" reading
Command option
(WIN1)
Command (WIN0)
Status (WOUT0)
Command response
(WOUT2, WOUT3)
When executing point data writing/reading
n
[Example] Executing position writing/reading
Command option
(WIN2, WIN3)
Command option
(WIN1)
Command (WIN0)
Status (WOUT0)
Command response
(WOUT1)
Command response
(WOUT2, WOUT3)
When executing parameter data writing/reading
n
[Example] Executing speed override (K9) writing/reading
Command option
(WIN2, WIN3)
Command option
(WIN1)
Command (WIN0)
Status (WOUT0)
Command response
(WOUT2, WOUT3)
n Delay time (Td) setting
Because remote commands are processed across multiple channel (word) information, a prescribed time period is required
for each area's information to be refreshed. Therefore, after each command option setting, a delay time (Td) is required
before the command is set. For "Td" details, refer to the operation manuals for the network and host types being used.
0000h 0000h
0000h
Td
0000h
0100h
0000h
0200h
0100h
00000000h
00002710h(=10000)
0000
0000
0000
0000
0000h
0000h
2710h
2710h
0000h 0001h
0000h
Td
0000h
0201h
0000h
0200h
0100h
0000h
0001h(=1)
00000000h
0000
0000
0000h
0064h
0000h 0009h
0000h
Td
0000h
0400h
0000h
0200h
0100h
00000000h
0000h
0000h
Td
0000h
0100h
0000h
0200h
0100h
00004E20h(=20000)
00000000h
00000000h
0001h
0000h
Td
0000h
0301h
0000h
0200h
0100h
0001h(=1)
00002710h(=10000)
00000000h
0009h
0000h
Td
0000h
0500h
0000h
0200h
0100h
00000064h(=100)
0000h
0000h
23534-M0-00
5
0000h
0000h
23535-M0-00
0000h
0000h
23536-M0-00
5-35

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