Concurrent I/Oâ¢Parameter - Motoman

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2.2 System Conform ParametersS2C264: JOB LINKING DESIGNATION (When Twin SynchronousFunction Used)Specify whether the manipulator at the synchronizing side is to be linked when the robot andthe station at the synchronized side are performing FWD/BWD or test run, by using the twinsynchronous function.0: Not operating1: Linking0 : Does not operate the synchronizing sidewhile teaching the synchronized side.1 : Links the synchronizing side while teachingthe synchronized side.S3C ParameterS3C parameters specify auxiliary functions of S2C parameters. For details of functions, seethe explanation of the corresponding S2C parameters (“2.2.2 S2C PARAMETERS”).ParametersMeaningReferenceParametersS3C000-S3C017 Cube Soft Limit S2C001S3C018-S3C023 S-Axis Interference Area S2C002S3C024-S3C407 Cube Interference Area S2C003-S2C026S3C409, S3C410S3C411Robot Interference AreaS2C257-S2C259S3C412: WORK HOME POSITION CUBEThis parameter specifies a side length of the cube for the work home position.2-32
2.2 System Conform ParametersS3C413 to S3C415: POSITION CORRECTING FUNCTION DUR-ING PLAYBACKThese parameters specify the necessary data for position correcting function (PAM) duringplayback operation.S3C413S3C414S3C415Specifies the limit of position correcting rangeSpecifies the limit of speed correcting rangeSpecifies the correcting coordinates0 : Base1 : Robot2 : Tool3 : User 1to26:User 24S3C416: MAXIMUM DEVIATION ANGLE OF CURRENT STATIONPOSITION (When Twin Synchronous Function Used)Used when the twin synchronous function is used. Specify the maximum deviation of theteaching position and the current station position.0 : No deviation checkOther : Deviation Angle (unit : 0.1°)than 0In the above figure on the left, the follower R2 executes the job of subtask 2 in synchronizationwith the motion of the station axis which is moved by the R1 job. In this procedure, the job ofsubtask 2 controls only the R2 robot axis.If the teaching position of the station in the subtask 2 differs from the station current position(controlled by the subtask 1 job), the difference is automatically offset so that R2 keeps thetaught position in relation to the station.Difference between the taught and the station current positions is always monitored if the differenceexceeds a set value of the parameter, the message “PULSE LIMIT (TWIN COORDI-NATED)”.2-33
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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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1.5 Specific Input Signals (4xxx)Ar
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1.6 Specific Output Signals (5xxx)A
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1.6 Specific Output Signals (5xxx)F
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1.6 Specific Output Signals (5xxx)A
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1.7 Internal Signal Used in Standar
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1.7 Internal Signal Used in Standar
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1.8 Internal Control Status Signals
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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 ProgramFormatA
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1.13 Standard Ladder ProgramArithme
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1.13 Standard Ladder ProgramSEQUENC
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1.13 Standard Ladder Program1246 50
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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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1.14 Editing Ladder ProgramsBasic O
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1.14 Editing Ladder ProgramsWhen th
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Concurrent I/Oâ¢Parameter - Motoman