YASKAWA FS100 - Page 44

2 INFORM Explanation
FS100 2.1 I/O Instructions : ANTOUT
2-21
SUPPLE
-MENT
Anticipation output function
The anticipation output function is a signal output timing adjustment function to advance or
delay the ON/OFF timing of 32 general-purpose outputs and 16 general-purpose output
groups. The signal can be output before or after the manipulator reaches the step.
This function corrects work timing errors due to delays in the motions of a peripheral device
and/or the manipulator.
Setting the time to a negative value (-) advances the signal output.
This can be used to correct work timing errors due to delays in the motions of a peripheral
device.
Setting the time to a positive value (+) delays the signal output.
This can be used to correct work timing errors due to delays in the motions of the manipu-
lator.
<Advanced signal output>
The signal is output before the manipulator reaches the step.
<Delayed signal output>
The signal is output after the manipulator reaches the step.
Step
Setting of
general
output
ON
OFF
Set time to advance signal output
n-1 n n+1
Step Instructions
n-1 MOVL
n MOVL NWAIT
ANTOUT AT#(1) ON
n+1 MOVL
Step
ON
OFF
Step Instructions
n-1 MOVL
n MOVL NWAIT
ANTOUT AT#(2) ON
n+1 MOVL
Setting of
general
output
Set time to delay signal
output
n-1 n n+1