Yamaha SRCD User Manual page 59

(4) Outputting the corresponding point number by the movement point
zone output function
Zone outputs (ZONE 0) are also explained here.
PO200 to 203 *
(Target position's point number
outputs 200 to 203)
ZONE0 (Zone output 0)
*Positive logic
Current robot position
* For single-axis type
Current robot position
* 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 321.
When I/O assignment selection parameter = 321
(single-axis controllers: PRM59, dual-axis controllers: PRM26)
I/O assignment type
Permissible number of movement points
Point output selection
Point zone judgment method
(position judgment parameter)
2) The Zone 0 output is enabled and set to positive logic output by the
Zone output selection parameter (single-axis controllers: PRM53,
dual-axis controllers: PRM24).
3) Set the movement point as P6.
Although the robot is within the P1 ± OUT valid position range (point zone
(1)
output range), all the PO200 to PO203 target position point number outputs are
off because P1 is not the movement point. Moreover, the ZONE 0 output is
also off because the robot is not within the specified zone output range.
(2) All the PO200 to PO203 target position point number outputs are off because
the robot is not within the point zone output range. Moreover, the ZONE 0
output is also off because the robot is not within the specified zone output
range.
PO PO PO PO PO
203 202 201 200 203
3 2 1 0 3
(2 ) (2 ) (2 ) (2 ) (2 )
OFF OFF OFF OFF OFF
Point output Point output
(point 6) (point 6)
P1 P6
a a a
Point zone output range Point zone output range
P1 b P6
b
a a a
q w e
* The number of target point number outputs that can be used depends on I/O assignment type.
53
CHAPTER2 PROFIBUS Unit
PO PO PO PO PO
202 201 200 203 202
2 1 0 3
(2 ) (2 ) (2 ) (2 ) (2
ON ON OFF OFF OFF
P P902 P902 9 0 0
a
Zone output range
b
b
a
P900 P900
r
a: X-axis position judgment parameter range
b: Y-axis position judgment parameter range
(In this case, this is the OUT valid position range.)
Type 2 (Point No. output type)
16 points
Movement point zone output
OUT valid position
PO PO
201 200
2 1 0
) (2 ) (2 )
OFF OFF
P903 P P903 9 0 1
X+
Y+
P901 P901
X+