Yamaha ERCX Series User Manual page 86

Single-axis robot controller
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5-2 Parameter Description
5
16
5-
PRM53: Zone output selection (Available with Ver. 13.50 or later)
This parameter is used to select the output destination and output logic when the zone
output function is enabled. The zone output is used to control the signal output when the
robot's current position is within the specified range.
A maximum of 4 zone outputs are available by setting for PRM53. The output logic can
also be changed.
This parameter functions are allocated in bit units.
Input range:
0 to 255
Default value: 0
Function allocation in bit units
Bit
0
Zone 0 output enable setting
1
Zone 1 output enable setting
2
Zone 2 output enable setting
3
Zone 3 output enable setting
4
Zone 0 output logic setting
5
Zone 1 output logic setting
6
Zone 2 output logic setting
7
Zone 3 output logic setting
8 to 15
Reserved for system use
Example: To set zone 1 output to positive logic and zone 2 output to negative logic while enabling zone 1
output and zone 2 output, make the following settings.
PRM53 should be set to "70" because of 0000000001000110 (binary)=70 (decimal).
Bit
Selected value
Addition value
Zone output function
To use the zone output function, the desired zone must be specified with point data. (See
Chapter 7, "EDITING POINT DATA".) When the robot enters the specified zone, its re-
sult is output to the specified port. Point numbers and output port that can be used for each
zone output are listed below.
Zone setting range and output port
Zone No.
Zone 0
Zone 1
Zone 2
Zone 3
c
CAUTION
The zone output function does not work if one item of the point data is unspecified or return-to-origin is
incomplete.
Function
Selected value
0: Disabled
1: Enabled
0: Disabled
1: Enabled
0: Disabled
1: Enabled
0: Disabled
1: Enabled
0: Positive logic
1: Negative logic
0: Positive logic
1: Negative logic
0: Positive logic
1: Negative logic
0: Positive logic
1: Negative logic
15 to 8
7
6
5
0
0
1
0
64
0
0
0
Specified range
Output port
P900-P901
DO0
P902-P903
DO1
P904-P905
DO2
P906-P907
DO3
Addition value
0
1
0
2
0
4
0
8
0
16
0
32
0
64
0
128
0
4
3
2
1
0
PRM53
0
0
1
1
0
0
0
4
2
0
64+4+2=70

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