Positioning Timing Chart - Yamaha TS-P User Manual

Yamaha single-axis robot controller
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5.3.2 Positioning timing chart

The timing chart for positioning operations is shown below.
1
For "normal end"
Point No. select
00h
(PIN0 to PIN7)
Point No. output
(POUT0 to POUT7)
Start (START)
Operation-in-progress
(BUSY)
Operation end
(END)
(1) The PIN0 to PIN7 point number settings are specified.
(2) The START input switches ON after the Td delay period elapses.
(3) When positioning begins, the END signal switches OFF, and the BUSY signal
switches ON.
(4) The START input switches OFF.
(5) When positioning ends, the BUSY signal switches OFF, and the END signal
switches ON.
The "BUSY" ON conditions are "operation in progress" OR "RUN command input in
progress".
TIP
• Point No. setting conditions
A delay of 5ms or longer (guideline value) is required between the point No. input
and the START command, and this START command must be kept ON until the
BUSY signal switches ON. A malfunction may occur if the point No. is not set
properly due to an insufficient delay time.
CAUTION
Moreover, if the host unit's timer is used to specify the delay time, be sure to
consider the timer response accuracy to ensure that the actual delay time is 5ms or
longer.
Setting
00h
Positioning operation
Td 5ms
5.3 Positioning operation
00h
Response
Chapter 5 Operation
1
2
3
4
5
6
7
5-13

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