I/O Signal Descripion - Yamaha ERCX Series User Manual

3-7-2 I/O signal descripion

The meaning of each signal is explained below.
■ Point number designation inputs 0 to 5 (PI0 to PI5)
These inputs designate the point number of the target position where the robot moves with a
point movement command (ABS-PT, INC-PT). (For details on the ABS-PT and INC-PT
commands, see 3.2.1, "Dedicated command input" in this chapter.)
These inputs are also used to designate the point number of the target position where point data
is written with a point data write command (PSET).
The point number of the target position must be specified before running a point movement
command or point write command. The point number is specified by a binary code. See the
table below to specify each point number.
Point number designation example
PI No.
PI5 PI4
5 4
Point No.
(2 ) (2 )
P0 OFF OFF
P1 OFF OFF
P7 OFF OFF
P15 OFF OFF
P31 OFF ON
P63 ON ON
■ Movement speed setting (SPD1, SPD2)
Designates the speed at which the robot moves with a point movement command (ABS-PT,
INC-PT) or jog movement command (JOG+, JOG-). (For details on the ABS-PT and INC-PT
commands, see 3.2.1, "Dedicated command input" in this chapter.)
The movement speed must be specified before running a point movement command or jog
movement command. See the table below to specify the movement speed.
Movement speed setting example
SPD2 SPD1
Movement speed
OFF OFF 100%
OFF ON PRM41
ON OFF PRM42
ON ON PRM43
■ Jog movement (+ direction) command (JOG+)
Moves the robot in jog mode along the + (plus) direction.
The robot moves in jog mode along the + (plus) direction as long as this signal is on. The
movement speed is 100mm/sec.
This speed can be changed by using SPD1 and SPD2. In this case, the movement speed is given
by the following equation.
Movement speed [mm/sec] = 100 × (Movement speed [%] specified with SPD1 and SPD2) / 100
c
CAUTION
If the CHG (mode switch input) signal is switched during jog movement, the robot comes to an error stop.
■ Jog movement (- direction) command (JOG-)
Moves the robot in jog mode along the - (minus) direction.
The robot moves in jog mode along the - (minus) direction as long as this signal is on. The
movement speed is 100mm/sec.
This speed can be changed by using SPD1 and SPD2. In this case, the movement speed is given
by the following equation.
Movement speed [mm/sec] = 100 × (Movement speed [%] specified with SPD1 and SPD2) / 100
c
CAUTION
If the CHG (mode switch input) signal is switched during jog movement, the robot comes to an error stop.
PI3 PI2 PI1 PI0
3 2 1 0
(2 ) (2 ) (2 ) (2 )
OFF OFF OFF OFF
OFF OFF OFF ON
OFF ON ON ON
ON ON ON ON
ON ON ON ON
ON ON ON ON
3-7 I/O Assignment Change Function
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