I/O Signal Descripion - Yamaha SRCD User Manual

CHAPTER2 PROFIBUS Unit
2-9-4

I/O signal descripion

The meaning of each signal is explained below. For the meaning of signals not described
here, refer to "2-7-2 Dedicated command input" and the following sections.
■ Point number designation inputs 200 to 205 (PI200 to PI205)
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 2-7-2, "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
PI204
PI No. PI205
5
Point No. (2 ) (2
P0 OFF OFF
P1 OFF OFF
P7 OFF OFF
P15 OFF OFF
P31 OFF ON
ON
P63 ON
■ Movement speed setting (SPD201, SPD202)
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 2-7-2, "Dedicated command input" in this
chapter.)
The movement speed must be specified before running a point movement com-
mand or jog movement command. See the table below to specify the movement
speed.
Movement speed setting example
SPD202 SPD201
OFF OFF 100%
I/O point movement command first speed
ON
OFF
(single-axis controllers: PRM41, dual-axis controllers: PRM5)
I/O point movement command second speed
ON OFF
(single-axis controllers: PRM42, dual-axis controllers: PRM6)
I/O point movement command third speed
ON ON
(single-axis controllers: PRM43, dual-axis controllers: PRM7)
■ 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 SPD201 and SPD202. In this case, the
movement speed is given by the following equation.
Movement speed [mm/sec] = 100 × (Movement speed [%] specified with SPD201 and SPD202) / 100
In the case of dual-axis controllers, the X-axis is usually used for jog movement.
However, the Y-axis can be specified with SI213 and SI214 by enabling PRM10
(Control axis selection with I/O command). (Refer to "PRM10: Control axis
selection with I/O command" in the DRCX controller user's manual.)
PI203 PI202 PI201
4 3 2 1
) (2 ) (2 ) (2 )
OFF OFF OFF
OFF OFF OFF
OFF ON ON
ON ON ON
ON ON ON
ON ON ON
Movement speed
40
PI200
0
(2 )
OFF
ON
ON
ON
ON
ON