Hardware Control Parameters - YASKAWA NX100 Operator's Manual

8 Parameter

8.8 Hardware Control Parameters

8.8
Hardware Control Parameters
These parameters make the hardware settings for fan alarm or relay operation, etc.
 S2C508: ANTICIPATOR FUNCTION
This parameter specifies anticipation output.
0: Invalid
1: Valid
The anticipator function is a function to quicken or slow the ON/OFF timing of four user output signals
and two user output groups. Using this function, signal output can be carried out before or after the
step is reached. As a result, timing deviation due to delayed motion of peripheral devices and robot
motion can be adjusted.
Setting the time to a negative value (-) advances the signal output.
This setting is effective when adjusting timing deviation due to delayed motion of peripheral devices.
Setting the time to a positive value (+) delays the signal output.
This setting is effective when adjusting timing deviation due to delayed robot motion.
<Advanced Signal Output>
Signal output is carried out before the step is reached.
Step Instructions
: :
n-1 MOVL
n MOVL NWAIT
ANTOUT AT#(1) ON
n+1 MOVL
<Delayed Signal Output>
Signal output is carried out after the step is reached.
Step Instructions
: :
n-1 MOVL
n MOVL NWAIT
ANTOUT AT#(2) ON
n+1 MOVL
n-1
Step
ON
User output
OFF
n-1
Step
ON
User output
OFF
8-47
n
Setting time for advanced output
n
Setting time for delayed output
RE-CSO-A031
149235-1CD
n+1
n+1
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