Yamaha SRCD User Manual page 48

CHAPTER2 PROFIBUS Unit
For single-axis controller
For dual-axis controller
■ Point data write command (PSET)
Writes the current position data in the specified point number.
To use this command, the point number for writing the current position data must
first be specified using a PI (point number designation input) input.
The PSET is enabled only when return-to-origin has been completed.
■ Target position's point number outputs 200 to 205 (PO200 to PO205)
These are the output signals for the point movement command (ABS-PT, INC-PT)
target position point numbers, and for the point numbers corresponding to the
point zone output and movement point zone output functions. (For details on ABS-
PT and INC-PT commands, see 2-7-2, "Dedicated command input" in this
chapter.)
The "point zone output function" outputs the corresponding point number to the
PO when the robot enters the point zone output range (corresponding point ±
position judgment parameter range). The corresponding point of this point zone
output range is the point data registered at the controller.
Moreover, the point zone output range's corresponding point can be further
narrowed to correspond to point movement commands (ABS-PT, INC-PT), with
the point number being output to the PO. This is referred to as the movement point
zone output function.
Point zone output function
PO
b
PO : OFF
Corresponding point (Pn)
Point zone output range
Corresponding point (Pn)
OFF
a : Position judgment parameter range
Point zone output range Point zone output range Point zone output range
a
a
b
PO : OFF
a : X-axis position judgment parameter range
b : Y-axis position judgment parameter range
42
a a
ON
(selected by the PRM59 "thousands" digit value)
PO : OFF
(selected by the PRM26 "thousands" digit value)
(selected by the PRM26 "thousands" digit value)
OFF