Yamaha RCX142, User Manual

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4-
198
Operation
4
12. “SYSTEM” mode
n
NOTE
• This parameter 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.
• Any point on the boundary of the
specified area is determined to be
within the area.
• If the area check cannot be
performed correctly due to return-to-
origin incomplete, operation other
than “MANUAL” or “AUTO” mode,
or a memory error, then the area
check output will turn off regardless
of the criterion setting.If the
specified port is the same as the port
used by the program, then the area
check output has priority.
• The default setting is “IN” (output is
on within specified area).
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.
[Procedure]
1) Select “5. Condition” in “SYSTEM>OPTION>POS.OUT>SELECT” mode.
2) Press the
F 1
(EDIT) key.
Fig. 4-12-72 Criterion selection for area check output
SYSTEM >OPTION>POS.OUT>SELECT
1.Output of area1
3.Compare Point number11 P1
4.Compare Point number12 P2
MAIN
IN OUT
2.Output port1(DO & SO) 20
5.Condition IN
V8.63
3) Select the criterion for area check output with the
F 1
(IN) or
F 2
(OUT) key.
Setting
IN
OUT
Meaning
Turns on when the robot enters a specified area.
Turns on when the robot goes out of a specified area.
4) Press the
ESC
key to quit the setting. To continue selecting other items, use the
cursor (
↑
/
↓
) keys.