Yamaha RCX141, Руководство пользователя

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4-
191
4
Operation
12. “SYSTEM” mode
3) Select the output port with the
F 1
(20) through
F 8
(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. Point numbers
from P0 to P4000 can be used to specify an area.
[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. 4-12-69 Entering the comparison point numbers for area check output
[0-4000] Enter point no. >_ 0
SYSTEM >OPTION>POS.OUT>SELECT
1.Output of area1
3.Compare Point number11
PO
4.Compare Point number12 PO
5.Condition
IN
MAIN
2.Output port1(DO & SO) 20
V8.63
3) Enter the point number with the
0
to
9
keys and press the key.
4) Select "4. Compare Point number n2" with the cursor (
↑
/
↓
) keys and enter point
number as in step 3).
5) 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
. (when "5. Condition" is set to "IN")
Fig. 4-12-70 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 point
numbers 1 and 2 must be the same to
perform correct operation.
• On controllers of Ver. 8.63 onwards,
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.
On earlier version controllers, no
error will occur even if comparison
points do not exist or the units of
comparison points are not the same.
Note, however, that the area check
output does not function correctly in
this case.
n
NOTE
On controllers from Ver. 8.63 onwards,
by changing the "5. Condition" setting,
it is possible to select whether the
robot position should be within a
specified area or outside it in order to
turn on the output status. On earlier
version controllers, the area check
output turns on when the robot is
within a specified area, and turns off
when outside it.
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.