Yamaha ERCX Series, User Manual

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5-
16
5
PA
RAMETERS
5-2 Parameter Description
PRM53: Zone output selection (Available with Ver. 13.50 or later)
This parameter is used to select the output destination and output logic when the zone
output function is enabled. The zone output is used to control the signal output when the
robot's current position is within the specified range.
A maximum of 4 zone outputs are available by setting for PRM53. The output logic can
also be changed.
This parameter functions are allocated in bit units.
Input range: 0 to 255
Default value: 0
Function allocation in bit units
Function Bit
Bit
Selected value
Addition value
15 to 8
0
0
7
0
0
6
1
64
5
0
0
4
0
0
3
0
0
2
1
4
1
1
2
0
0
0
PRM53
64+4+2=70
0
1
2
3
4
5
6
7
8 to 15
Zone 0 output enable setting
Zone 1 output enable setting
Zone 2 output enable setting
Zone 3 output enable setting
Zone 0 output logic setting
Zone 1 output logic setting
Zone 2 output logic setting
Zone 3 output logic setting
Reserved for system use
0: Disabled
1: Enabled
0: Disabled
1: Enabled
0: Disabled
1: Enabled
0: Disabled
1: Enabled
0: Positive logic
1: Negative logic
0: Positive logic
1: Negative logic
0: Positive logic
1: Negative logic
0: Positive logic
1: Negative logic
Selected value Addition value
0
1
0
2
0
4
0
8
0
16
0
32
0
64
0
128
0
Example: To set zone 1 output to positive logic and zone 2 output to negative logic while enabling zone 1
output and zone 2 output, make the following settings.
PRM53 should be set to "70" because of 0000000001000110 (binary)=70 (decimal).
Zone output function
To use the zone output function, the desired zone must be specified with point data. (See
Chapter 7, "EDITING POINT DATA".) When the robot enters the specified zone, its re-
sult is output to the specified port. Point numbers and output port that can be used for each
zone output are listed below.
Zone setting range and output port
Zone No.
P900-P901
P902-P903
P904-P905
P906-P907
Zone 0
Zone 1
Zone 2
Zone 3
Specified range Output port
DO0
DO1
DO2
DO3
c
CAUTION
The zone output function does not work if one item of the point data is unspecified or return-to-origin is
incomplete.