Detailed explanation of command words
4-209
Def Map (Define mapping)
[Function]
This command defines the monitored condition for the mapping (the workpiece presence recognition) in a
cassette, using the get-position-quick function (GPS function).
[Format]
[Terminology]
<Monitoring No.>
The target monitoring number. Set it with a constant number from 1 to 8.
<Input No.>
Set the target input signal number for the monitoring.
Servo digital input: 850 to 852
SKIP input: 801 to 803
<Condition>
Specify the signal-on/off status as a trigger.
The robot position data is stored when the signal set in <Input No.> is turned on/off.
<Mechanism No.>
Set the target mechanism number for the position data acquisition. (If the argument
is omitted, 1 is set as the default value.)
<Lowest position>/<Highest position>Set the lowest/highest position to detect a workpiece in a cassette in
<Lowest position>/<Highest position>.
The set positions must be in the path of robot's linear movement for detection.
The position set in <Lowest position> is defined as the first segment in the
cassette. If the lowest/highest position is set oppositely, the highest position
set in <Lowest position> is defined as the first segment.
<Number of segments>
Set the number of segments in the cassette.
Based on the set number of segments, each space divided equally between the
lowest and highest positions is regarded as a segment.
Setting range: 1 to 130 (segments)
<Sensitivity>
Set the sensitive area of a sensor for improvements in accuracy to detect the pres-
ence of a workpiece. (Refer to
.)
When a position outside the set sensitive area is detected, the detection data is
not used for the workpiece presence recognition because the detection information
is canceled.
Setting range: 0.1 to 100 (mm)
(0.1 to 100 (deg.) for a multi-mechanism with single axis of rotation)
Def[]Map[] <Monitoring No.>, <Input No.>, <Condition>, [<Mechanism No.>],
<Lowest position>, <Highest position>, <Number of segments>, <Sensitivity>
Set value
Conditions
On
On the rising edge of target input signal
Off
On the falling edge of target input signal
