Yamaha RCX141, User Manual

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Operation
4
12. “SYSTEM” mode
12.3.1 Setting the area check output
This function checks whether the current robot position is within an area specified by the
area check output parameter’s point data, and outputs the result to the specified port.
A maximum of 4 areas can be checked with this function.
The area check output includes the following 5 parameters.
1. Area check on/off
Selects the robot for the area check.
2. Area check output port No.
Selects the port to output the area check results to. (Usable port numbers: DO20 to
DO27, SO20 to SO27.)
3. Comparison point No. 1
4. Comparison point No. 2
Sets the points for determining the area. (Usable point No. : P0 to P4000)
The area is applied to all set axes.
If the R axis is set, always make sure that the comparison point's R axis data is set.
5. Condition for area check output
Selects the condition that allows the area check output to turn on, from either when
the robot is within a specified area or when outside it.
When the comparison points are set as shown below, and the robot axis tip is moved
between the marks, the output is off at
and the output is on at . (when “5.
Condition” is set to “IN”)
Fig. 4-12-64 When points are designated in Cartesian coordinates ("mm" unit system)
Comparison point 2
+Z
+X
+Y
Comparison point 1
n
NOTE
• If the port used for area check
output is the same as the output
port used by the program, then the
output data might be changed. So
do not use the same output port.
• If the same port is designated for a
different area check output, OR
will be output.
• On controllers of Ver. 8.63
onwards, the area check cannot be
performed and an error is
displayed unless comparison
points exist or the units of
comparison points are the same. If
this situation occurs during
automatic operation, the
automatic operation stops and an
error is displayed. The area check
output where the error occurred
then turns off. Automatic operation
cannot be performed until the
error is cleared.
On earlier version controllers, no
error will occur even if
comparison points do not exist or
the units of comparison points are
not the same. Note, however, that
the area check output does not
function correctly in this case.
• Area check output will not function
if return-to-origin is incomplete.
• The area check is carried out on
all set axes. Use caution when
setting the R axis point if using a
system with four axes.
• Always provide a margin when
setting the comparison point data.
• "5. Condition for area check
output" is supported by controllers
of Ver. 8.63 onwards. On earlier
version controllers, the area check
output turns on when the robot is
within a specified area, and turns
off when outside it.