Yamaha ERCX Series User Manual page 59

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NOTE
• The movement point zone output function is supported only in Ver. 13.64 and later versions.
• When using an optional unit such as CC-Link, the corresponding point number for the movement point zone
output function is output to the corresponding parallel I/O (PO0 to PO5) and the serial I/O (PO200 to PO205).
• The movement point number specified just prior to movement START by point movement command (ABS-PT,
INC-PT) is registered as the movement point.
• Because movement points are reset immediately after a controller power on, all PO outputs turn off.
Movement points are also reset when the RESET command is executed, and movement point zone outputs by PO
are cleared.
• The point zone judgment method can be selected as either the "OUT valid position" or "positioning-completed
pulse" (this setting is specified by the PRM59 setting's "thousands" digit value).
• The "OUT valid position" can be changed by parameter setting (PRM20).
• The "positioning-completed pulse" can be changed parameter setting (PRM6).
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CAUTION
• All the PO0 to PO5 outputs are off when the robot is not within the point zone output range.
• A 10ms sampling time is needed for position monitoring, so the point zone output may not be detected during
high-speed robot motion.
• When outputting point 0 (P0) as the corresponding point for the movement point zone output function, all the
PO0 to PO5 outputs remain off (because P0 = 000000
change even after the robot has entered the zone specified by P0. This should be kept in mind when monitoring
P0.
3-7 I/O Assignment Change Function
). Therefore, the PO0 to PO5 statuses do not
(binary)
3
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