Yamaha RCX222 User Manual page 285

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NOTE
• If the port used for area check output is the same as the output port used
by the program, then the output data might be changed. So do not use
the same output port.
• If the same port is designated for a different area check output, OR will
be output.
• On controllers of Ver. 9.08 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.
• Area check output will not function if return-to-origin is incomplete.
• The area check is performed on all set axes.
• Always provide a margin when setting the comparison point data.
• "5. Condition for area check output" is supported by controllers of Ver. 9.08
onwards. On earlier version controllers, the area check output turns on
when the robot is within a specifi ed area, and turns off when outside it.
• If a port number which does not exist is specifi ed as the area check
output port, no output will occur.
12. "SYSTEM" mode
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Chapter
4