Operator`s manual

2.1 I/O Instructions

2-18

When the basic voltage is 7.00 V at a motion speed of 150.0 mm/sec for the analog output

port number 1, an offset voltage of -10.0 V is output.

Analog output function corresponding to the speed

To regulate the thickness of the sealing or paint, etc. when sealing and painting, the

amount of discharged material should be adjusted according to the motion speed of the

manipulator.

The analog output function corresponding to the speed automatically changes the analog

output value according to the manipulator’s motion speed.

ARATION and ARTIOF instructions are used to carry out this function.

On the base of the set value for the ARATION instruction, the output characteristic, which

decides the relation between the motion speed and the analog voltage, is calculated. The

analog output corresponding to speed is output according to this output characteristic.

MOVJ VJ=50.00 Output voltage (V)

ARATION AO#(1) BV=7.00 V=150.0 OFV=-10.0 7.00

MOVL V=50.0 -4.33

MOVC V=100.0 1.33

MOVL V=200.0 12.67

SUPPLE-

MENT

Analog output

Motion speed

Basic speed

Basic viltage

Offset voltage

14V

Example