Yamaha ERCX Series, User Manual

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3
I/O INTERF
ACE
3-7 I/O Assignment Change Function
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Point data write command (PSET)
Writes the current position data in the specified point number.
To use this command, the point number for writing the current position data must first be
specified using a PI (point number designation input) input.
The PSET is enabled only when return-to-origin has been completed.
■
Mode switch input (CHG)
Switches the Type 3 (Point teaching type) mode. Selectable modes are as follows.
(1) Point trace mode
(2) Teaching mode
The Type 3 (Point teaching type) mode is switched to "Point trace mode" when the CHG signal
is off, and is switched to "teaching mode" when the CHG signal is on.
c
CAUTION
If the CHG signal is switched during execution of a point movement command (ABS-PT, INC-PT) or jog
movement command (JOG+, JOG-), the robot comes to an error stop.
■
Target position's point number outputs 0 to 5 (PO0 to PO5)
These are the output signals for the point movement command (ABS-PT, INC-PT) target
position point numbers, and for the point numbers corresponding to the point zone output and
movement point zone output functions. (For details on ABS-PT and INC-PT commands, see
3.2.1, "Dedicated command input" in this chapter.)
The "point zone output function" outputs the corresponding point number to the PO when the
robot enters the point zone output range (corresponding point
±
position judgment parameter
range). The corresponding point of this point zone output range is the point data registered at
the controller.
Moreover, the point zone output range's corresponding point can be further narrowed to corre-
spond to point movement commands (ABS-PT, INC-PT), with the point number being output
to the PO. This is referred to as the movement point zone output function.
Point zone output function
Point zone output range
a: Position judgment parameter range
(selected by the PRM59 "thousands" digit value)
PO
OFF
OFF
Single-axis robot
a a
Corresponding point (Pn)
ON
Target position point numbers for point movement commands (ABS-PT, INC-PT) are output as
binary values. The same applies to point numbers which correspond to the point zone output
function and the movement point zone output function.
The PO output format is determined by the PRM59 (I/O assignment selection parameter)
setting's "hundreds" digit value.
0: PO output occurs at normal movement completion.
1: PO output occurs when movement command is received.
2: Point zone output
(PO output occurs when the current position enters the point data (registered at the
controller)
±
position judgment parameter range.)
3: Movement point zone output (supported only by Ver. 13.64 and later versions)
(PO output occurs when the current position enters the point data registered at the
controller, and the point movement command's (ABS-PT, INC-PT) movement point data
±
position judgment parameter range.)