Yamaha ERCX Series User Manual page 189

[Method 2]
1) Add the robot language command "DUTY 1" to the beginning of the interval in a program
in which you want to measure the duty and also add the robot language command "DUTY
0" to the end of the interval.
005: DO 0,1
006: WAIT 1,1
007: DO 0,0
008: TIMR 100
← Start operation duty measurement
009: DUTY 1
010: DO 0,0
011: WAIT 0,1
012: MOVA 2,100
013: DO 0,1
014: WAIT 1,1
015: DO 1,0
016: TIMR 100
← Stop operation duty measurement
017: DUTY 0
018: DO 0,0
2) Run the program including the operation duty measurement interval.
3) Stop (end) the program.
4) On the TPB, select DUTY mode and check the measurement result.
Refer to "10-7-1 Measuring the duty (load factor)" for the procedure to check the measurement
result.
10-7 Duty (load factor) monitor
Operation duty
measurement interval
10-
10
21