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5.3.7 Output function
During positioning operations, individual operation speeds and position information
are transmitted to the host unit by the outputs shown below.
Speed
Speed
Accel.
Movement-in-progress
output level (K12)
Movement-in-progress
output (MOVE)
Personal zone
output (PZONE)
Near width output
(NEAR)
Personal zone output (PZONE)
■
This output switches ON when the current position enters the zone of each point.
Near width (NEAR)
■
This output switches ON when the current position enters the near width zone
(near-target-position zone).
Movement-in-progress output (MOVE)
■
This output is ON while robot movement is in progress. The minimum speed
for recognizing a movement-in-progress condition can be specified at the K12
(movement-in-progress output level) RUN parameter.
Zone -
5.3 Positioning operation
Decel.
Target position
Zone +
Near width
Chapter 5 Operation
1
2
3
Position
4
5
6
7
5-21
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