YASKAWA DX100 Operator's Manual

8 Parameter
8.6 Parameters according to Coordinated or Synchronized Operation
8-45
155507-1CD
RE-CSO-A037
DX100
8.6 Parameters according to Coordinated or Synchronized
Operation
These parameters make the settings for coordinated or synchronized
operations between manipulators or between manipulators and stations.
8.6.0.1 S2C212: +MOV or +SMOV INSTRUCTION SPEED INPUT
This parameter specifies whether the speed inputting for move
instructions of the master robot in a coordinated job is permitted or not.
8.6.0.2 S2C213: +MOV INSTRUCTION INTERPOLATION INPUT
This parameter specifies which interpolation is permitted for move
instructions for the master robot in a coordinated job. More than one
instruction can be specified.
8.6.0.3 S2C231: OPERATION METHOD AT FWD/BWD OPERATION OR TEST
RUN BY INDEPENDENT CONTROL
This parameter specifies the operation method at FWD/BWD operation or
test run by independent control.
<Example> 0: Not Provided
SMOVL V=100
+MOVL  Master side
Speed specification not
provided
<Example> 1: Provided
SMOV L V=100
+MOV L V=100  Master side
Speed specification
provided
d7 d0
+ MOVJ : 1(VALID)
+ MOVL: 2(VALID)
+ MOVC : 4(VALID)
+ MOVS: 8(VALID)
0 : The job of the task that is currently displayed operates.
1 : Jobs of all the tasks operate.
476 of 554

YASKAWA DX100 Specifications

General

Programming Language	Inform III
Compatible Robots	Motoman robots
Operating Temperature	0-45°C
Humidity	20-80% RH (non-condensing)
Protection Class	IP20
Interface	Ethernet
Safety Standards	ANSI/RIA R15.06-1999
Pendant	Available
I/O Capacity	1024 inputs / 1024 outputs
Storage Temperature	-10-60°C