Yamaha SRCD User Manual page 57

(3) Outputting the corresponding point number by the point zone output
function
Zone outputs (ZONE 0, ZONE 1) are also explained here.
PO200 to 203
(Target position's point number
outputs 200 to 203)
ZONE0 (Zone output 0)
*Positive logic
ZONE1 (Zone output 1)
*Positive logic
Current robot position
* For single-axis type
Current robot position
* For dual-axis type
Precondition: 1) The following steps are explained assuming that the I/O assign-
ment selection parameter (single-axis controllers: PRM59, dual-
axis controllers: PRM26) is set to 221.
When I/O assignment selection parameter = 221
(single-axis controllers: PRM59, dual-axis controllers: PRM26)
I/O assignment type
Permissible number of movement points
Point output selection
Point zone judgment method
(position judgment parameter)
2) The Zone 0 output and Zone 1 output are enabled and set to posi-
tive logic output by the Zone output selection parameter (single-
axis controllers: PRM53, dual-axis controllers: PRM24).
(1) Target position's point number outputs PO200 to PO203 are off since the cur-
rent robot position is not within the point zone output range. ZONE 0 and
ZONE 1 output signals are also off since the robot does not yet enter the zone
output range.
PO PO PO PO PO
203 202 201 200 203
3 2 1 0 3
(2 ) (2 ) (2 ) (2 ) (2 )
m-No. is output as binary value OFF
Point output Point output
(point m) (point m)
Pm P900 P900 P900 P901 P901
a a
Point zone output range Point zone output range
Zone output range Zone output range
P901 P901
Pm b
b
P900 P900 P900
a a
q w e r
* The number of target point number outputs that can be used depends on I/O assignment type.
51
CHAPTER2 PROFIBUS Unit
PO PO PO PO
202 201 200 203 202
2 1 0 3
(2 ) (2 ) (2 ) (2 ) (2
OFF OFF OFF n-No. is output as binary value
Point output Point output
(point n) (point n)
P901 P902 P P902 9 0 2 Pn
Point zone output range Point zone output range
Zone output range Zone output range
Pn
P902 P902
t
a: X-axis position judgment parameter range
b: Y-axis position judgment parameter range
(In this case, this is the OUT valid position range.)
Type 2 (Point No. output type)
16 points
Point zone output
OUT valid position
PO PO PO
201 200
2 1 0
) (2 ) (2 )
P P903 P903 9 0 3
X+
Y+
P903 P903 P903
X+