Yamaha RCX40, User Manual

Page: 248 / 388

4-
188
Operation
4
12. “SYSTEM” mode
3) Select the output port with the
F 1
(DO(20)) through
F 8
(DO(27)) keys.
4) Press the
ESC
key to quit the setting. To continue selecting other items, use the
cursor (
↑
/
↓
) keys.
3. Comparison point No. 1
4. Comparison point No. 2
Set the point numbers for determining the area to perform area check.
[Procedure]
1) Select “3. Compare point number n” in
“SYSTEM>OPTION>POS.OUT>SELECT” mode.
2) Press the
F 1
(edit) key.
The function key menu changes.
Fig. 4-12-63 Entering the comparison point numbers for area check output
SYSTEM >OPTION>POS.OUT>SELECT V8.01
1.Output of area 1
2.Port number of output 1
3.Compare point number 11
4.Compare point number 12 PO
[0-4000] Enter point number
MAIN
DO (20)
PO
>_ 0
3) Enter the point number with the
0
to
9
keys and press the key.
4) Press the
ESC
key to quit the setting. To continue selecting other items, use the
cursor (
↑
/
↓
) keys.
Example: 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
.
Fig. 4-12-58 When points are designated in Cartesian coordinates ("mm" unit system)
Comparison point 2
+Z
+X
+Y
Comparison point 1
n
NOTE
The units of comparison points 1 and
2 must be the same to perform correct
operation.
n
NOTE
Area check output is on when the
current position is within the specified
area, and off when outside the area.
n
NOTE
• The area check is carried out on
all set axes. Take care when setting
the R axis point if using the system
with four axes.
• Always provide a margin when
setting the comparison point data.