Yamaha RCX222, Руководство пользователя

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Chapter
4
OPERA
TION
12. "SYSTEM" mode
12.3.1 Setting the area check output
This function checks whether the current robot position is within an area specified by the
area check output parameter’s point data, and outputs the result to the specified port.
A maximum of 4 areas can be checked with controllers prior to Ver. 9.22, while a
maximum of 8 areas can be checked with controllers of Ver. 9.22 onwards.
The area check output includes the following 5 parameters.
1. Area check on/off
Selects the robot for the area check.
2. Area check output port No.
Selects the port to output the area check results to.
The following port numbers can be used.
• Controllers prior to Ver. 9.22
DO/SO Port No.
DO 20 to 27
SO 20 to 27
• Controllers of Ver. 9.22 onwards
DO/SO Port No.
DO
20 to 27
,
30 to 37
,
40 to 47
,
50 to 57
,
60 to 67
,
70 to 77
,
100 to 107
110 to 117*
,
120 to 127*
,
130 to 137*
,
140 to 147*
,
150 to 157*
SO
20 to 27 , 30 to 37 , 40 to 47 , 50 to 57 , 60 to 67 , 70 to 77 , 100 to 107
110 to 117 , 120 to 127 , 130 to 137 , 140 to 147 , 150 to 157
* DO110 to DO157 do not exist as hardware, so these are not output to external devices but can
be used as internal outputs.
3. Comparison point No. 1
4. Comparison point No. 2
Sets the points for determining the area. Usable point No. is P0 to P4000 for
controllers prior to Ver. 9.39 and P0 to P9999 for controllers of Ver. 9.39 onwards.
The area is applied to all set axes.
5. Condition for area check output
Selects the condition that allows the area check output to turn on, from either when
the robot is within a specified area or when outside it.