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3-29

I/O INTERFACE

3-7 I/O Assignment Change Function

3-7-3 Timing chart

This section shows timing charts for the operations that are added by changing the I/O assignment.

■ Jog movement (JOG+, JOG-)

END

READY

Robot movement

Data retention

30ms or less30ms or more 30ms or less 1ms or less1ms or less

Axis designation data

DI13, DI14

(Pin No. B11, A12)

JOG movement command

(JOG+ / JOG-)

BUSY

Mode switch input (CHG)

(1)Turn on the CHG signal.

(2)To specify the movement axis, input the axis designation data to DI13 and DI14 (pin No. B11

and A12).

•The input status specified here must be kept unchanged until step (4) is complete. If this

input status is changed, the DRCX controller might misrecognize the data.

(3)Turn on the JOG+ (or JOG-) input signal while the CHG signal is on.

(4)The END signal turns off and the BUSY signal turns on, indicating that the DRCX received

the jog movement command.

(5)The robot moves in jog mode as long as the JOG+ (or JOG-) input signal is on.

(6)Turn off the JOG+ (or JOG-) input signal.

(7)Wait until the BUSY signal turns off.

(8)The BUSY signal turns off. The END signal should be on at this point, indicating that the jog

movement is normally complete.

CAUTION

• If the CHG signal is switched during execution of a jog movement command (JOG+, JOG-), the robot comes

to an error stop and the END signal remains off.

•When specifying the axis, the DI13 and DI14 (pin No. B11 and A12) status must be checked beforehand.

(Refer to "PRM10: Control axis selection with I/O command".)

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Yamaha SRCD User Manual

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