Yamaha SRCD, Руководство пользователя

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51
CHAPTER2 PROFIBUS Unit
(3) Outputting the corresponding point number by the point zone output
function
Zone outputs (ZONE 0, ZONE 1) are also explained here.
a: X-axis position judgment parameter range
b: Y-axis position judgment parameter range
(In this case, this is the OUT valid position range.)
PO
203
(2
3
)
PO
202
(2
2
)
PO
201
(2
1
)
PO
200
(2
0
)
PO
203
(2
3
)
PO
202
(2
2
)
PO
201
(2
1
)
PO
200
(2
0
)
PO200 to 203
(Target position's point number
outputs 200 to 203)
ZONE0 (Zone output 0)
ZONE1 (Zone output 1)
Current robot position
*Positive logic
*Positive logic
a a
X+
Pm P902 P902 P903 P903 P900 P900 P901 P901 3 0 9 P 2 0 9 P Pn P900 P901
Zone output range Zone output range
Point zone output range Point zone output range
Point output
(point m) Point output
(point m) Point output
(point n) Point output
(point n)
m-No. is output as binary value OFF OFF OFF OFF n-No. is output as binary value
Current robot position
a a
Pm
* The number of target point number outputs that can be used depends on I/O assignment type.
q w e r t
X+
b
b
P900 P900 P900
P901 P901
P902 P902
P903 P903 P903
Pn
Y+
PO
203
(2
3
)
PO
202
(2
2
)
PO
201
(2
1
)
PO
200
(2
0
)
Point zone output range Point zone output range
Zone output range Zone output range
* For single-axis type
* For dual-axis type
Precondition: 1) The following steps are explained assuming that the I/O assign-
ment selection parameter (single-axis controllers: PRM59, dual-
axis controllers: PRM26) is set to 221.
I/O assignment type
Permissible number of movement points
Point output selection
Point zone judgment method
(position judgment parameter)
When I/O assignment selection parameter = 221
(single-axis controllers: PRM59, dual-axis controllers: PRM26)
Type 2 (Point No. output type)
16 points
Point zone output
OUT valid position
2) The Zone 0 output and Zone 1 output are enabled and set to posi-
tive logic output by the Zone output selection parameter (single-
axis controllers: PRM53, dual-axis controllers: PRM24).
(1) Target position's point number outputs PO200 to PO203 are off since the cur-
rent robot position is not within the point zone output range. ZONE 0 and
ZONE 1 output signals are also off since the robot does not yet enter the zone
output range.