Yamaha RCX240, User Manual

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Chapter 4 OPERATION
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Chapter 4 OPERATION
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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 controllers prior to Ver. 10.10, and a maximum of 8
areas can be checked with controllers from Ver. 10.10 onwards.
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.
The following port numbers can be used.
• Controllers prior to Ver. 10.10
DO/SO Port No.
DO 20 to 27
SO 20 to 27
• Controller from Ver. 10.10 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
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.
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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.
• 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.
• 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.
• If a port number which does not exist as hardware is specified as the area check
output port number, nothing is output to external devices.