Yamaha DRCX, Руководство пользователя

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3-
35
3
I/O INTERF
ACE
3-7 I/O Assignment Change Function
(3) Outputting the corresponding point number by the point zone output function
Zone outputs (ZONE 0, ZONE 1) are also explained here.
Target position's point number
outputs 0 to 3*
(PO0 to PO3)
Zone output 0 (ZONE 0)
*Positive logic
Zone output 1 (ZONE 1)
*Positive logic
Current robot position
a a
Pm
* The number of target point number outputs that can be used depends on I/O assignment type.
q w e r t
Zone output range Zone output range Zone output range Zone output range
Point zone output range Point zone output range Point zone output range Point zone output range
Point output
(point m)
Point output
(point m)
Point output
(point n)
Point output
(point n)
X+
b
b
P900 P900
P901 P901 P901
P902 P902
P903 P903
Pn
Y+
a: X-axis position judgment parameter range
b: Y-axis position judgment parameter range
(In this case, this is the OUT valid position range.)
m-No. is output as binary value OFF OFF OFF OFF
PO3
(2
3
)
PO2
(2
2
)
PO1
(2
1
)
PO0
(2
0
)
PO3
(2
3
)
PO2
(2
2
)
PO1
(2
1
)
PO0
(2
0
)
n-No. is output as binary value
PO3
(2
3
)
PO2
(2
2
)
PO1
(2
1
)
PO0
(2
0
)
Precondition: 1) The following steps are explained assuming that PRM26=221.
I/O assignment type
Permissible number of movement points
Point output selection
Point zone judgment method
(position judgment parameter)
When the PRM26 setting = 221
Type 2 (Point No. output type)
16 points
Point zone output
OUT valid position
2) The Zone 0 and Zone 1 output signals are enabled and set to positive output
by the Zone output selection parameter (PRM24).
(1) Target position's point number outputs PO0 to PO3 are off since the current robot position is
not within the point zone output range. ZONE 0 and ZONE 1 output signals are also off
since the robot does not yet enter the zone output range.
(2) Outputs the corresponding point number through PO0 to PO3 since the current robot posi-
tion is within the point zone output range (Pm
±
OUT valid position range). ZONE 0 and
ZONE 1 output signals are still off since the robot does not yet enter the zone output range.
(3) As with (1), all the target position's point number outputs PO0 to PO3, ZONE 0 signal and
ZONE 1 output signal are off.
(4) ZONE 0 output signal turns on since the current robot position is within the zone output
range (P900 to P901). (ZONE 1 signal remains off since the robot is not within the zone
output range of P902 to P903). At this point, the target position's point number outputs PO0
to PO3 are still off since the robot is not within the point zone output range.
(5) Outputs the corresponding point number through PO0 to PO3 since the current robot posi-
tion is within the zone output range (P902 to P903) and also within the point output range
(Pn
±
OUT valid position range). At this point, ZONE 1 output signal turns on. (ZONE 0
output signal turns off since the robot is not within the zone output range of P900 to P901).
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