Yamaha DRCX User Manual page 57

2-axis robot controller
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3-7 I/O Assignment Change Function
3
30
3-
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■ Point data write (PSET)
Mode switch input (CHG)
Point data write command (PSET)
Point number designation inputs 0 to 5*
(PI0 to PI5)
END
BUSY
READY
Point data write
* Point numbers that can be used depend on the I/O assignment type.
Precondition: The CHG signal is on before and during point data writing (until the follow-
ing procedure is complete).
(1) Designate the point number input (PI0 to PI5) to write the point data.
• The point numbers that can be used depend on the I/O assignment type. Refer to the I/O
assignment list in "3-7-1 Changing the I/O assignment".
• The input status for designating the point number must be kept unchanged until step (3) is
complete. If this input status is changed, the DRCX might misrecognize the data.
(2) After 30ms or more has elapsed, turn on the PSET.
(3) The END signal turns off and the BUSY signal turns on, indicating that the DRCX received
the point data write command.
(4) Turn off the PSET.
(5) Wait until the BUSY signal turns off.
(6) The BUSY signal immediately turns off since point data writing is already finished. The
END signal should be on at this point, indicating that the point data writing was completed
normally.
Data retention
Point data writing
30ms or more 30ms or less
1ms or less
30ms or less

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