Yamaha RCX240, Руководство пользователя

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Chapter 4 OPERATION
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Chapter 4 OPERATION
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12. "SYSTEM" mode
12.3.5 Individual axis return-to-origin by general-purpose DI/SI
12.3.5.1 Individual axis return-to-origin function
Use of this function makes it possible to perform the return-to-origin or absolute reset of an
individual axis by the general-purpose DI or SI.
The return-to-origin of an individual incremental type axis can be performed.
Additionally, the absolute reset of an individual absolute type axis can also be performed.
n
NOTE
The individual axis return-to-origin function by the general-purpose DI/SI is
applicable to a controller of Ver. 10.24 onwards.
The individual axis return-to-origin function by the general-purpose DI/SI provides 3 kinds of
parameters as shown below.
These parameters are set for each robot (main robot, sub-robot).
1. Individual axis return-to-origin
This parameter specifies whether or not the individual axis return-to-origin is performed.
2. Axes selection port number (DI & SI)
This parameter specifies the port number for which the information on axis to be used for the
return-to-origin/absolute reset is set.
3. Done output port (DO & SO)
This parameter specifies the DO and SO port numbers to which the individual axis return-to-
origin/absolute reset complete is output.
The following explains the outline of the return-to-origin or absolute reset operation.
l
Return-to-origin of individual incremental type axis
q
Specify an axis to be used for the return-to-origin by the general-purpose DI or SI.
(DI and SI port numbers to be used are specified by the "Axes selection port number (DI &
SI)" parameter.)
w
Close the return-to-origin input DI14 or SI14 (ON).
The return-to-origin of the incremental type axis specified in step
q
is started at the rising
edge of the signal pulse.
e
When the return-to-origin is complete, the return-to-origin complete output is turned on.
(DO and SO port numbers to be used are set by the "Done output port number (DO & SO)"
parameter.)
l
Absolute reset of individual absolute type axis
q
Specify an axis to be used for the absolute reset by the general-purpose DI or SI.
(DI and SI port numbers to be used are specified by the "Axes selection port number (DI &
SI)" parameter.)
w
Close the ABS reset input DI17 or SI17 (ON).
The absolute reset of the axis specified in step
q
is started at the rising edge of the signal pulse.
e
When the absolute reset is complete, the absolute reset complete output is turned on.
(DO and SO port numbers to be used are specified by the "Done output port number (DO &
SO)" parameter.)