YASKAWA DX200 Instructions Manual

Also see for Motoman DX200: Instruction manual Instructions Instructions Setup procedure Instructions

Contents

YASKAWA DX200 Instructions Manual Manual pdf 19 page image

4-1165259-1CDHW1481811Interrupt Job Function 4 Execution of an Interrupt Job4.1 Interruption Signal Detection4 Execution of an Interrupt Job4.1 Interruption Signal DetectionAn interruption signal is detected at the rising edge of the signal.If more than one interruption signal is detected at the same time, the jobfor the level with higher priority is executed.4.2 Timing for Interrupt Job ExecutionThe timing of executing an interrupt job depends on what instruction isbeing executed when the interruption signal is received, and can bedivided into the following two types.• Suspends the instruction being executed to do an interrupt jobThe following instructions are suspended while executing an inter-rupt job.• Executes an interrupt job after the completion of the instruction beingexecuted.Any instructions other than those listed above are completed beforestarting an interrupt job.4.3 Deceleration Before Interrupt Job ExecutionIf the manipulator is moving at a high speed and the interrupt job isexecuted immediately after the interruption signal is received, anexcessive shock to the manipulator may result.To avoid this risk, the manipulator automatically decelerates upon receiptof the interruption signal, and then the interrupt job is executed.4.4 Interruption Signal Entered During Another Interrupt JobAll interruptions are automatically disabled during the execution of aninterrupt job. Therefore, if another interruption signal with a higher priorityis received, its corresponding job is not executed.The new signal is ignored. When an interrupt job is completed, even ifany interruption signal is ON, the corresponding interrupt job is notexecuted until the rising edge of the interruption signal is detected.Move Instructions MOVJ MOVL MOVC IMOVI/O Instruction WAITControl Instruction TIMER19/27