Concurrent I/Oâ¢Parameter - Motoman

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2.2 System Conform ParametersS2C027 to S2C074: CUBE USING METHODThese parameters specify the coordinates for defining the cube.If the user coordinates areselected,also specify the user coordinate system numbers.Set cube area referring to the cubeinterference areas shown in the table below.Coordinate : Pulse(axis interference)specification1 : Base coordinates2 : Robot coordinates3 : User coordinatesCoordinate No : Specify the user coordinate number when selecting “3: User Coordinate”.SUPPLE-MENT It will be necessary to consider the following when setting the cubic interference and S-Axis intereference areas. The manipulator is processed to decelerate to stop from thepoint where it enters in the area. Therefore, set the areas in consideration of the amount ofthe manipulator movement in the deceleration section shown in the figure below.INTERFERENCEAREADECELERATIONSTOPSPEEDMOVEMENTSPEED REDUCTIONINTERVALThe move amount in the speed reduction section is dependent on the moving speed of themanipulator at that time:V = 1500mm/sec approx. 300mm (Max.)V = 1000mm/sec approx. 160mmV = 30mm/sec approx. 3 to 4 mmV = 20mm/sec approx. 2mm2-10
2.2 System Conform ParametersSUPPLE-MENT Processing to prevent interference is executed in the I/O processing section. The relationbetween the XRC I/O signal and manipulator operation is shown below.STARTIN THE CONTROLPOINT WITHIN THECUBE?NOYESIN THE "CUBEENTRANCE PROHIBIT"SIGNAL ON?NO"WAIT" RESETYESOUTPUT "WAIT" SIGNAL"OPERATING IN CUBE"SIGNAL OUTPUTMANIPULATOR STOPSHAS IT LEFT THECHECK CUBE?YESNOIn wait status with the entrance prohibit signal, the manipulator just barely enters the areafor speed reduction processing and then stops.2-11
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YASKAWAYASNAC XRCConcurrent I/O•P
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Read this manual carefully before i
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Descriptions of the programming pen
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5055: COMMAND REMOTE SETTING. . . .
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8031: SERVO ON CONDITION 1 . . . .
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# Editing Ladder Programs. . . . .
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S2C101: SPEED DATA INPUT FORM . . .
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RS031: NUMBER OF STOP BITS . . . .
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1.1 Features of Concurrent I/O1 Con
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1.3 Classification of I/O SignalsCo
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1.3 Classification of I/O SignalsSp
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1.3 Classification of I/O Signals8-
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1.4 Configuration of I/O SignalsCon
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1.5 Specific Input Signals (4xxx)Sp
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1.7 Internal Signal Used in Standar
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1.9 Pseudo Input Signals (82xx)Pseu
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1.11 I/O Except Concurrent I/OCAUTI
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1.12 RegisterArc WeldingM079 M078 M
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1.12 RegisterSpot WeldingM079 M078
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1.13 Standard Ladder Program Standa
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1.13 Standard Ladder ProgramInstruc
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1.13 Standard Ladder ProgramRETRY R
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1.13 Standard Ladder Program. 4 Sig
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1.13 Standard Ladder Program2090GRP
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1.13 Standard Ladder ProgramOT#190,
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YASNAC XRCConcurrent I/O•Paramete
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Concurrent I/Oâ¢Parameter - Motoman