Yamaha RCX222, User Manual

Page: 323 / 524

4-224 4-225
Chapter
4
OPERA
TION
12. "SYSTEM" mode
3) Select the robot for the area check with (NO), (MAIN) or (SUB).
Robot Details
NO The area check output is not executed.
MAIN The area check output is executed for the main robot.
SUB The area check output is executed for the sub robot.
4) Press to quit the setting. To continue selecting other items, use the cursor (
↑
/
↓
)
keys.
2. Area check output port No.
This parameter specifies the port to output the area check results to. The following
ports can be used as the area check output port.
• Controllers prior to Ver. 9.22
DO/SO Port No.
DO 20 to 27
SO 20 to 27
• Controllers of Ver. 9.22 onwards
DO/SO Port No.
DO
20 to 27
,
30 to 37
,
40 to 47
,
50 to 57
,
60 to 67
,
70 to 77
,
100 to 107
110 to 117*
,
120 to 127*
,
130 to 137*
,
140 to 147*
,
150 to 157*
SO
20 to 27
,
30 to 37
,
40 to 47
,
50 to 57
,
60 to 67
,
70 to 77
,
100 to 107
110 to 117
,
120 to 127
,
130 to 137
,
140 to 147
,
150 to 157
* DO110 to DO157 do not exist as hardware, so these are not output to external devices but
can be used as internal outputs.
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 serial IO is enabled while a DIO option board and a serial IO board
such as for CC-Link are installed in the option board slots, then the area
check results will be output to both the DO and SO of the same number.
[Procedure]
[Controllers prior to Ver. 9.22]
1) Select "2. Port number of output n" in "SYSTEM>OPTION>POS.OUT>SELECT" mode.