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6. Out position [pulse] /OUTPOS
During PTP movement in a program, the next command can be executed when the robot enters
the range specified by the Out position for the target position. This parameter sets the Out
position range. When initialized, this is set to a value unique to each axis.
When the robot enters the Out position range, the controller determines that the program
line has been executed. (However, the robot continues moving to the target position.) When
consecutive PTP movement commands are in a program, the larger the value that is set, the
more the time required to shift to the next command line can be shortened.
The robot is verified to have entered the tolerance range before executing the movement
command so the previous positioning operation will end, even when executing consecutive PTP
operations.
The value set for the selected axis is displayed in converted units on the 3rd line of the RPB screen.
OUT position range
Current position
Select "6. Out position [pulse]" in "SYSTEM>PARAM>AXIS" mode.
1
Press
(EDIT).
2
Select the axis with cursor (
3
Setting the "Out position [pulse]"
Enter the value with
4
If the value you input was a real number (number containing a decimal point), then it is
converted into pulse units.
c
CAUTION
When the tolerance range is larger than the Out position range, the PTP operation is
performed until the robot is within the Out position range.
Repeat steps 3 and 4 as needed.
5
Press
to quit the edit mode.
6
Target position
/
) keys.
to
, and
and then press
12. "SYSTEM" mode
Out position
range
Tolerance range
.
Chapter 4 OPERATION
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