Yamaha SRCP - Manual (Page 95)

7-
7
7
EDITING POINT DA
TA
7-4 Manual Control of General-Purpose Output
7-4 Manual Control of General-Purpose Output
When performing teaching playback or direct teaching with systems that use a general-purpose
output through the I/O interface to operate a gripper or other tools, you may want to check the
position of workpiece by actually moving it.
For this reason, the SRCP controller is designed to allow manual control of general-purpose outputs
from the TPB.
1) Move the robot with the same procedure up to
step 6 in "7-2 Teaching Playback" or up to step
7 in "7-3 Direct Teaching".
The following steps are explained using the
teaching playback screen.
2) When the robot reaches the position where you
want to operate general-purpose output, stop
the robot. Then press
F4 (next) to change the
menu display and then press F1 (DO).
[EDIT-PNT-TCH](1) 50
P0 = 0.00 [mm]
[ 0.00]
[EDIT-PNT-TCH](1) 50
DO 0=0 DO 1=0 DO 2=0
DO 3=0 DO 4=0
1DO0 2DO1 3DO2 4next
[EDIT-PNT-TCH](1) 50
P0 = 0.00 [mm]
[ 0.00]
1DO 2TRC 3 4next
1CHG 2SPD3S_SET4next
3) The current status of the general-purpose out-
put appears on the screen.
Press the function key that matches the DO
number to switch the output on and off (on=1,
off=0).
If selecting DO3 to DO5, press F4 (next) to
change the menu display.
4) Press ESC to return to step 2.