IAI R-unit RSEL, Инструкция по эксплуатации, Страница: 633 / 844

Chapter 10 Parameter
10.7 Parameter Configuration (Advanced Use)
10-100
ME0392-4C
10.7.19 Would like to output that all the single-axis actuators has completed the home
return operation
It can be checked that all single-axis actuators have completed the home-return operation.
Status Output Port 304
Home-Return
Operation Completed
ON
Home-Return
Operation Incomplete
OFF
Parameter No. Set Value Description
I/O Parameter No.50 2
Set as output with all single-axis actuators
completing home-return operation
10.7.20 Would like to output that a single-axis actuator has got in the set area (zone)
Setting four areas (zones) and output port to each axis of single-axis actuators is available.
It can be checked that the set area (zone) was invaded.
The signal will not be output (turn on) unless an actuator stays for 3ms or more.
However, SCARA Robot has a simple interference check zone different from this setting.
Refer to [SEL Language Programming Manual]
Current Position Output Port: Set in Axis-Specific Parameter No. 88
Zone 1 Invaded ON
Zone 1 not invaded OFF
Current Position Output Port: Set in Axis-Specific Parameter No. 91
Zone 2 Invaded ON
Zone 2 not invaded OFF
Current Position Output Port: Set in Axis-Specific Parameter No. 94
Zone 3 Invaded ON
Zone 3 not invaded OFF
Current Position Output Port: Set in Axis-Specific Parameter No. 97
Zone 4 Invaded ON
Zone 4 not invaded OFF
10.7 Parameter Configuration (Advanced Use)
ME0392-4C
10-101
Parameter No. Set Value Description
Axis-Specific Parameter No. 86
Max. Value in Zone 1
Axis-Specific Parameter No. 87
Min. Value in Zone 1
Axis-Specific Parameter No. 88 Zone
1 Output
P
orts No.
Axis-Specific Parameter No. 89
Max. Value in Zone 2
Axis-Specific Parameter No. 90
Min. Value in Zone 2
Axis-Specific Parameter No. 91
Zone
2 Output
P
orts No.
Axis-Specific Parameter No. 92
Max. Value in Zone 3
Axis-Specific Parameter No. 93 Min. Value in Zone 3
Axis-Specific Parameter No. 94
Zone
3 Output
P
orts No.
Axis-Specific Parameter No. 95
Max. Value in Zone 4
Axis-Specific Parameter No. 96
Min. Value in Zone 4
Axis-Specific Parameter No. 97
Zone
4 Output
P
orts No.
(Note) Duplicating indication in output ports is not accepted.
[Example of Setting]
Here shows an example of setting the following area (zone) to Zone 1.
1st Axis : Invaded in range from 150 to 200 mm and Output Port No. 311 turns on
2nd Axis : Invaded in range from 75 to 125 mm and Output Port No. 312 turns on
Axis-Specific Parameter 1st axis 2nd axis
No.86 200,000 125,000
No.87 150,000 75,000
No.88 311 312
The unit for setting maximum value and minimum value is 0.001 mm.
2nd Axis
1st Axis