Yamaha SRCD User Manual page 54

CHAPTER2 PROFIBUS Unit
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[Point movement command execution w]
(8) Execute the next point movement command.
(9) Point movement ends.
(10) The END signal turns on. The previous target position's point number being
output from the specified point number (PO200 to PO205) is cleared and the
current target position's point number is then output.
CAUTION
!
• If moving the robot to point 0 with a point movement command that is first
executed after turning on the controller, all of PO200 to PO205 still remain off
(because P0 = 000000
means that the PO200 to PO205 status does not change even after the robot
has moved to P0, so no information is available to indicate whether the robot
motion to P0 is complete (or whether the movement command was received).
This should be kept in mind when moving the robot to point 0.
• When specifying the axis, the SI213 and SI214 status must be checked before-
hand. (Refer to "PRM10: Control axis selection with I/O command" in the
DRCX controller user's manual.
) even after the robot has moved to point 0. This
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