Point Data Writing - Yamaha TS-P User Manual

Yamaha single-axis robot controller
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5.5 Remote commands

5.5.5 Point data writing

1
Point data is written.
Input
2
Output
3
Commands and data
Command
4
5
6
7
Because an EEPROM is used as the ROM, the number of writing operations is limited.
Users should therefore refrain from writing unnecessary data to the ROM.
CAUTION
Data which has been written to the RAM is not saved to memory, and the original data is
restored when a restart occurs. To save the RAM data to memory, the "operation type" must
NOTE
be written after writing each data item.
For point data details, see Chapter 3, section 3.2 "Point data".
TIP
5-34
Chapter 5 Operation
WIN3
WOUT3
Command Option
Point No.
(WIN0)
(WIN1)
0200h
0201h
0202h
0203h
0204h
1(0001h)
0205h
to
0206h
255(00FFh)
0207h
0208h
0209h
020Ah
020Ch
Command Option
WIN2
Data
Command Response
WOUT2
-
Point No. (response)
Data
Standard Setting
(WIN2, WIN3)
Operation
type
Position
0.001mm
Speed
%
Acceleration
%
Deceleration
Push force
Zone (-)
0.001mm
Zone (+)
0.001mm
Near width
0.001mm
Jump
Flag
Timer
Command
WIN1
WIN0
Point No.
02xxh
Status
WOUT1
WOUT0
0200h
Units
Data Write
Destination
Custom Setting
-
ROM
RAM
0.01mm/s
RAM
0.001m/s
2
RAM
%
RAM
%
RAM
ROM
ROM
ROM
-
ROM
-
ROM
ms
ROM

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