YASKAWA DX200 Instructions Manual

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

Contents

YASKAWA DX200 Instructions Manual Manual pdf 22 page image

5 Application Examples5.3 Interruption During Move Instruction with NWAIT5-2165259-1CDHW1481811Interrupt Job Function5.3 Interruption During Move Instruction with NWAIT0000 NOP0001 EI0002 MOVJ0003 MOVL0004 MOVL0005 MOVL NWAIT0006 TIMER T=2.000007 DOUT OT#(1) ON0008 MOVJ0009 DI0025 END0000 NOP0001 MOVJ0002 DOUT OG#(2) 50003 RET0004 ENDInterrupt jobJob in progressInterruption enabledInterruption disabledInterruption during move fromStep 3 to Step 4 (while theTIMER instruction is executedsimultaneously by NWAIT)After the RET instruction in the interrupt job isexecuted, the suspended job is restarted fromthe TIMER instruction on line 0006. However,moving to Step 4 is skipped.Interrupt jobStep 1Step 1Step 5Step 4Step 3Step 2A job interruption (with the cursor on line 0006)Moves while executing TIMER instruction.After the interrupt job is completed,instructions on lines 0006 and 0007are executed at this position.The manipulator moves to Step 5.22/27