Yamaha RCX142 User Manual page 259

n
NOTE
• The units of comparison point
numbers 1 and 2 must be the same to
perform correct operation.
• On controllers of Ver. 8.63 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.
n
NOTE
• 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.
n
NOTE
On controllers from Ver. 8.63 onwards,
by changing the "5. Condition" setting,
it is possible to select whether the
robot position should be within a
specified area or outside it in order to
turn on the output status. On earlier
version controllers, the area check
output turns on when the robot is
within a specified area, and turns off
when outside it.
3) Select the output port with the
4) Press the key to quit the setting. To continue selecting other items, use the
ESC
cursor (↑/↓) keys.
3. Comparison point No. 1
4. Comparison point No. 2
Set the point numbers for determining the area to perform area check. Point numbers
from P0 to P4000 can be used to specify an area.
[Procedure]
1) Select "3. Compare point number n" in
"SYSTEM>OPTION>POS.OUT>SELECT" mode.
2) Press the (edit) key.
F 1
The function key menu changes.
Fig. 4-12-70 Entering the comparison point numbers for area check output
SYSTEM>OPTION>POS.OUT>SELECT
1.Output of area1
2.Output port1(DO & SO)
3.Compare Point number11
4.Compare Point number12
5.Condition
[0-4000] Enter point no. >_ 0
3) Enter the point number with the
4) Select "4. Compare Point number n2" with the cursor (↑/↓) keys and enter point
number as in step 3).
5) Press the key to quit the setting. To continue selecting other items, use the
ESC
cursor (↑/↓) keys.
Example: When the comparison points
is moved between the
. (when "5. Condition" is set to "IN")
Fig. 4-12-71 When points are designated in Cartesian coordinates ("mm" unit system)
+Z
Comparison point 1
12. "SYSTEM" mode
(20) through (27) keys.
F 1 F 8
V8.63
MAIN
20
PO
PO
IN
to keys and press the
0 9
are set as shown below, and the robot axis tip
marks, the output is off at
Comparison point 2
+Y
+X
4
key.
and the output is on at
197
4-