Operator`s manual

2.1 I/O Instructions

2-22

Anticipation output function

The anticipation output function is a signal output timing adjustment function to advance or

delay the ON/OFF timing of four general-purpose outputs and two general-purpose output

groups. The signal can be output before or after the manipulator reaches the step.

This function corrects work timing errors due to delays in the motions of a peripheral device

and/or the manipulator.

Setting the time to a negative value (-) advances the signal output.

This can be used to correct work timing errors due to delays in the motions of a peripheral

device.

Setting the time to a positive value (+) delays the signal output.

This can be used to correct work timing errors due to delays in the motions of the manipu-

lator.

Advanced signal output

The signal is output before the manipulator reaches the step.

Delayed signal output

The signal is output after the manipulator reaches the step.

SUPPLE-

MENT

Step

Setting of

general

output

OFF

Set time to advance signal output

n-1 n n+1

Step Instructions

n-1 MOVL

n MOVL NWAIT

ANTOUT AT#(1) ON

n+1 MOVL