When Executing A Point Movement Command - Yamaha SRCP User Manual

3-6 I/O Control Timing Charts
3
20
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3-6-6 When executing a point movement command

■ When executing a point movement command (ABS-PT, INC-PT), the point data and speed
data must first be input before inputting the command.
The point data and speed data can be specified with DI0 to DI7 (or DI0 to DI6 when SERVICE
mode is enabled). Refer to "3-2-2 General-purpose input (DI0 to DI7)".
Point data (DI0 to 7)
Speed data
Point movement command
(ABS-PT, INC-PT)
BUSY
Actual robot operation
END
(1) Specify the point data and speed data, using the general-purpose input DI0 to DI7. These input
conditions should be kept unchanged until the BUSY signal turns on. (If these conditions are
changed before the BUSY signal turns on, then the data might be misrecognized.)
(2) When a minimum of 30ms has elapsed, input the point movement command (ABS-PT, INC-
PT).
(3) At the rising edge of the dedicated command input, the END signal turns off and the BUSY
signal turns on.
(4) Turn off (contact open) the dedicated command input after checking that the BUSY signal
turns on.
Now, you may change the point data and speed data (DI0 to DI7) for the next movement.
(5) Wait until the BUSY signal turns off.
(6) The END signal should be on when the BUSY signal turns off, indicating that the command
has ended normally.
n
NOTE
The number of general-purpose input (DI) points used to specify the point numbers and speed differs depending on
whether SERVICE mode is enabled or disabled and also on the PRM7 (I/O point movement command speed
parameter) setting. See "3-2-2 General-purpose input (DI0 to DI7)".
Data retention
Robot movement
30ms or more