Yamaha TS-S User Manual page 79

7. Zone (-)
8. Zone (+)
"Zone (-)" specifies the personal zone output (PZONE) range's lower limit (minus-direction limit).
"Zone (+)" specifies the personal zone output (PZONE) range's upper limit (plus-direction limit).
The personal zone output can be specified for each point data, and it switches ON when the robot's current position
enters the personal zone.
The following example shows a personal zone set as the absolute position range of 100 to 150mm, as measured from the
origin point.
Personal zone setting example (absolute position)
9. Near width
Specifies the near width zone (distance tolerance relative to target position) for the "near width output". The "near width
output" switches ON while the robot is passing through the near width zone.
When the RUN type is "Decel
deceleration ends and the push status begins.
Example for a setting of "Near width = 5mm"
11. Jump
Specifies the next point No. when movement to a next operation is to occur after a positioning completion. If this setting
is specified as "0", there is no movement to a next point (operation ends).
In merge operations, this setting specifies the merge destination point No.
Setting example of "Jump = 2"
Speed
P1 operation
After positioning to P1 is completed, positioning
to P2 occurs.
Personal zone
Zone (-)
Origin point
(100)
(0)
Push", this range represents the position (distance from target position) where
Near width
P−5
Target position P
P2 operation
Time
Zone (+)
Position
(150)
Near width
P+5
Position
Merge operation
Speed
P1 operation
After positioning to P1 is completed, positioning
to P2 occurs without a deceleration stop.
23307-M0-00
23308-M0-00
P2 operation
Time
23309-M0-00
3-7
3