Yamaha DRCX Manuale Utente Scaricare il pdf (Pagina 105)

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CHAPTER2 PROFIBUS Unit

CAUTION

This command is invalid for single-axis controllers.

CAUTION

The applicable radius is max. 1000mm and min. 2mm.

CAUTION

The SCARA robot, etc. which do not operate in the cartesian coordinates cannot

be moved in the circular interpolation mode.

*1: Single-axis controllers: PRM30, dual-axis controllers: PRM17

*2: Single-axis controllers: PRM44, dual-axis controllers: PRM64 and PRM104

1 2 ... 100 101 102 103 104 105 106 107 108 109 110 ... 147 148

PROFIBUS 1
INTRODUCTION 3
Contents 5
Cautions To Ensure Safety 7
1-1 Basic safety points 8
1-6 Warranty 10
PROFIBUS Unit 11
2-1 PROFIBUS unit features 12
2-2 PROFIBUS system concept 13
Plug the bus connector 14
PROFIBUS-DP 14
2-4 Parallel I/O connector 15
2-7 I/O information 21
I 1. 2 23
Specifying a point number 27
2-7-4 Interlock (LOCK) 28
2-7-6 Service mode (SVCE) 29
2-7-7 Dedicated outputs 30
2-8 Timing chart 32
Dedicated 33
2-8-5 When an alarm is issued 39
2-9-2 I/O assignment list 42
Output (Slave 43
2-9-4 I/O signal descripion 46
(binary) 49
2-9-5 Timing chart 51
2-10 Robot language 61
2-10-2 JMPF 62
2-10-3 JMPB 63
2-10-4 DO 63
2-10-5 WAIT 64
Emulated serialization 65
2-12 Remote command 67
Remote Command 68
1. Robot movement 68
2. Data handling 70
3. Utility 71
4. Special commands 71
QWn+20 QWn+18 92
QWn+14 QWn+12 92
Point number 92
CHAPTER2 PROFIBUS Unit 100
2-12-7 Status details 134
2-13 Other operations 137
2-14 Error Message 141
2-17-1 GSD files 145

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Yamaha DRCX Manuale Utente Pagina 105

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