Manual Control Of General-Purpose Output - Yamaha SRCP User Manual

7-4

Manual Control of General-Purpose Output

When performing teaching playback or direct teaching with systems that use a general-purpose
output through the I/O interface to operate a gripper or other tools, you may want to check the
position of workpiece by actually moving it.
For this reason, the SRCP controller is designed to allow manual control of general-purpose outputs
from the TPB.
1) Move the robot with the same procedure up to
step 6 in "7-2 Teaching Playback" or up to step
7 in "7-3 Direct Teaching".
The following steps are explained using the
teaching playback screen.
2) When the robot reaches the position where you
want to operate general-purpose output, stop
the robot. Then press
F4
menu display and then press
3) The current status of the general-purpose out-
put appears on the screen.
Press the function key that matches the DO
number to switch the output on and off (on=1,
off=0).
If selecting DO3 to DO5, press
change the menu display.
4) Press to return to step 2.
ESC
(next) to change the
(DO).
F1
(next) to
F4
7-4 Manual Control of General-Purpose Output
[EDIT-PNT-TCH](1) 50
P0 = 0.00 [mm]
[ 0.00]
1CHG 2SPD3S_SET4next
[EDIT-PNT-TCH](1) 50
DO 0=0 DO 1=0 DO 2=0
DO 3=0 DO 4=0
1DO0 2DO1 3DO2 4next
[EDIT-PNT-TCH](1) 50
P0 = 0.00 [mm]
[ 0.00]
1DO 2TRC 3 4next
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