Yamaha ERCX Series, Руководство пользователя

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I/O INTERF
ACE
3-7 I/O Assignment Change Function
n
NOTE
• When using an optional unit such as a CC-Link, the corresponding point number for the point zone output
function is output to both the corresponding parallel I/O (PO0 to PO5) and the serial I/O (PO200 to PO205).
• At controller Ver. 13.64 and later versions, the point zone judgment method can be selected (by the position
judgment parameter) as either the "OUT valid position" or "positioning-completed pulse" (this setting is
specified by the PRM59 setting's "thousands" digit value).
In versions prior to Ver. 13.64, only the "OUT valid position" can be used as the point zone judgment method
(specified by the position judgment parameter).
• The "OUT valid position" can be changed by parameter setting (PRM20).
• The "positioning-completed pulse" can be changed parameter setting (PRM6).
c
CAUTION
• When the current robot position is within two or more point zone output ranges, the smaller or smallest point
number is output.
Example: If the current robot position is within two point output ranges specified by P2 and P5, then P2 is
output.
• If the current robot position is not within any point output range, all of PO0 to PO5 turn off.
• A 10ms sampling time is needed for position monitoring, so the point zone output might not be detected when
moving the robot at high speeds.
• If outputting point 0 (P0) as the corresponding point for the point zone output function, all of PO0 to PO5
remain off (because P0 = 000000
(binary)
). This means that the PO0 to PO5 status does not change even after
the robot has entered the zone specified by P0. This should be kept in mind when monitoring P0.