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Yamaha RCX221 User Manual page 281

Yamaha 2-axis robot controller
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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.
n
NOTE
• The units of comparison point numbers 1 and 2 must be the same to
perform correct operation.
• On controllers of Ver. 9.08 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.
• 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.
[Procedure]
1) Select "3. Compare point number n1" in "SYSTEM>OPTION>POS.OUT>SELECT"
mode.
2) Press
(edit).
The function key menu changes.
■ Entering the comparison point numbers for area check output
SYSTEM>OPTION>POS.OUT>SELECT
1.Output of area1
2.Output por1(DO & SO)
3.Compare Point number11
4.Compare Point number12
5.Condition
[0-4000] Enter point number >_ 0
3) Enter the point number with
4) Select "4. Compare Point number n2" with the cursor ( ↑ / ↓ ) keys and enter point
number as in step 3).
V9.08
MAIN
20
P0
P0
IN
to
and press
12. "SYSTEM" mode
.
4-213
Chapter
4

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