Hardware Control Parameters; S2C646: Anticipator Function - YASKAWA DX100 Operator's Manual

DX100
8.8

8.8.0.1 S2C646: ANTICIPATOR FUNCTION

Step Instructions
: :
n-1 MOVL
n MOVL NWAIT
ANTOUT AT#(1) ON
n+1 MOVL
Step Instructions
: :
n-1 MOVL
n MOVL NWAIT
ANTOUT AT#(2) ON
n+1 MOVL
8 Parameter

8.8 Hardware Control Parameters

Hardware Control Parameters
These parameters make the hardware settings for fan alarm or relay
operation, etc.
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
ON
User output
OFF
<Delayed Signal Output>
Signal output is carried out after the step is reached.
Step
ON
User output
OFF
8-51
n-1
Setting time for advanced output
n-1 n
Setting time for delayed output
RE-CSO-A037
155507-1CD
n
n+1
n+1
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