Yamaha RCX40, Руководство пользователя

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Operation
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. The
current robot position is output when the robot is within the specified area and the output
is cleared when outside the area.
The area check output includes the following 4 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.
This is on when within the area and off when outside the area.
3. Comparison point No. 1
4. Comparison point No. 2
Sets the points for determining the area.
The area is applied to all set axes.
If the R axis is set, always make sure that the comparison point's R axis data is set.
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 .
Fig. 4-12-58 When points are designated in Cartesian coordinates ("mm" unit system)
Comparison point 2
+Z
+X
+Y
Comparison point 1
n
NOTE
• Output results might be incorrect
if the specified port is the same as
the port used by the program.
• If the same port is designated for
a different area check output, OR
will be output.
• The units of the two comparison
points must be the same to
perform correct operation.
• The comparison points must be
point-defined to perform correct
operation.
• Area check output will not
function if return-to-origin is
incomplete.
• 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.