Yamaha ERCX Especificações descarregar pdf (Página 52)

APPLICATION

Compact

single-axis robots

TRANSERVO

Single-axis robots

FLIP-X

Linear motor

single-axis robots

PHASER

Cartesian

robots

XY-X

SCARA

robots

YK-XG

Pick & place

robots

YP-X CLEAN

CONTROLLER

INFORMATION

390

Robot

positioner

Pulse string

driver

Robot

controller iVY Option

DRCX

Robot Language Table

Command Description

MOVA Moves to point data position.

MOVI Moves from current position by amount of point data.

MOVF Moves until speciﬁ ed DI input is received.

JMP Jumps to a speciﬁ ed label in a speciﬁ ed program.

JMPF

Jumps to a speciﬁ ed label in a speciﬁ ed program

according to the input condition.

JMPB

Jumps to a speciﬁ ed label when general-purpose

input or memory input is in the speciﬁ ed state.

Deﬁ nes the jump destination for a JMP or JMPF

statement, etc.

CALL Runs another program.

Turns general-purpose output or memory output on and off.

WAIT

Waits until a general-purpose input or memory input

is set in the speciﬁ ed state.

TIMR

Waits the speciﬁ ed amount of time before advancing

to the next step.

PDeﬁ nes a point variable.

P+ Adds 1 to a point variable.

P- Subtracts 1 from a point variable.

SRVO Turns the servo on or off for all axes or a speciﬁ ed axis.

STOP Temporarily stops program execution.

MAT Deﬁ nes a matrix.

MSEL Speciﬁ es a matrix to move.

MOVM Moves to a speciﬁ ed pallet work position on matrix.

JMPC

Jumps to a speciﬁ ed label when counter array

variable C equals the speciﬁ ed value.

JMPD

Jumps to a speciﬁ ed label when counter variable D

equals the speciﬁ ed value.

CSEL Speciﬁ es the array element of counter array variable C.

CDeﬁ nes counter array variable C.

C+ Adds a speciﬁ ed value to counter array variable C.

C-

Subtracts a speciﬁ ed value from counter array variable C.

DDeﬁ nes counter variable D.

D+ Adds a speciﬁ ed value to counter variable D.

D- Subtracts a speciﬁ ed value from counter variable D.

ORGN Executes return-to-origin on all axes or a speciﬁ ed axis.

ACHA Deﬁ nes an arch motion by setting a position.

ACHI Deﬁ nes an arch motion by setting a distance.

DRVA Moves a speciﬁ ed axis to a speciﬁ ed point data position.

DRVI

Moves a speciﬁ ed axis a distance equal to speciﬁ ed

point data from current position.

SHFT

Shifts the coordinate position by amount of speciﬁ ed

point data.

TON Runs a speciﬁ ed task.

TOFF Stops a speciﬁ ed task.

JMPP

Jumps to a speciﬁ ed label when the axis positional

relation meets the speciﬁ e.

MOVL Executes linear interpolation motion.

MOVC Executes circular interpolation motion.

Absolute battery B1 / B2

These batteries are for backing up the absolute data. B1 and B2 differ in the

capacity. Select either one to be suitable for equipment stop time.

(Select from either B1 or B2 when ordering )

Dimensions

B1 battery

Approx. 300

(250)

152

Approx. 300

(250)

Dimensions

B2 battery

Battery B1 / B2 basic speciﬁ cations

Item B1 B2

Model KR4-M4252-10 KR4-M4252-00

Battery type Ni-Cd battery

Battery capacity 3.6V/700mAh 3.6V/2,000mAh

Data holding time

note

120 hours 340 hours

Dimensions W52 × D47 × H15mm

29 × L152mm

Weight 80g 280g

Cable length 300mm 300mm

When power is turned OFF with fully charged battery mounted.Note.

Standard accessories

I/O connector

Model KR4-M4421-00

1 2 ... 47 48 49 50 51 52 53 54 55 56 57 ... 75 76

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