Yamaha SRCD User Manual page 58

CHAPTER2 PROFIBUS Unit
(2) Outputs the corresponding point number through PO200 to PO203 since the
current robot position is within the point zone output range (Pm ± OUT valid
position range). ZONE 0 and ZONE 1 output signals are still off since the
robot does not yet enter the zone output range.
(3) As with (1), all the target position's point number outputs PO200 to PO203,
ZONE 0 signal and ZONE 1 output signal are off.
(4) ZONE 0 output signal turns on since the current robot position is within the
zone output range (P900 to P901). (ZONE 1 signal remains off since the robot
is not within the zone output range of P902 to P903). At this point, the target
position's point number outputs PO200 to PO203 are still off since the robot is
not within the point zone output range.
(5) Outputs the corresponding point number through PO200 to PO203 since the
current robot position is within the zone output range (P902 to P903) and also
within the point output range (Pn ± OUT valid position range). At this point,
ZONE 1 output signal turns on. (ZONE 0 output signal turns off since the
robot is not within the zone output range of P900 to P901).
M E M O
M E M O
• When using an option unit, the corresponding point number for the point zone
output function is output to both the corresponding parallel I/O (PO0 to PO5) and
the serial I/O (PO200 to PO205). In the SRCP/SRCD series, however, the point
number is only output to the serial I/O.
• In controllers of the following versions, the position judgment parameter for select-
ing the point judgment method can be set to either "OUT valid position" or "Posi-
tioning-completed pulse" (this is specified in the "thousands" place of the I/O as-
signment selection parameter). In controllers prior to the following versions, the
point zone judgment method (specified by the position judgment parameter) can
only be set to "OUT valid position".
ERCX, SRCX : Ver. 13.64 or later
SRCP, SRCD
• The "OUT valid position" can be changed by parameter setting (single-axis con-
trollers: PRM20, dual-axis controllers: PRM56 for X-axis, PRM96 for Y-axis).
• The "Positioning-completed pulse" can be changed parameter setting (single-axis
controllers: PRM6, dual-axis controllers: PRM53 for X-axis, PRM93 for Y-axis).
CAUTION
!
• When the current robot position is within two or more point zone output ranges,
the smaller or smallest point number is output.
Example : If the current robot position is within two point output ranges
specified by P2 and P5, then P2 is output.
• If the current robot position is not within any point output range, all of PO200
to PO205 turn off.
• A 10ms sampling time is needed for position monitoring, so the point zone
output might not be detected when moving the robot at high speeds.
• For point zone output and zone output, PO and ZONE0 to ZONE3 are output
only when the all axes of the robot are within the output range specified for
each zone.
• If outputting point 0 (P0) as the corresponding point for the point zone output
function, all of PO200 to PO205 remain off (because P0 = 000000
means that the PO200 to PO205 status does not change even after the robot
has entered the zone specified by P0. This should be kept in mind when moni-
toring P0.
: Ver. 24.21 or later
52
DRCX : Ver. 18.64 or later
SRCP30 : Ver. 24.30H or later
). This
(binary)