Yamaha ERCX Series User Manual page 56
Single-axis robot controller
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Also See for ERCX Series:
- User manual (148 pages) ,
- Supporting supplement manual (34 pages)
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3-7 I/O Assignment Change Function
3
32
3-
(3)Outputting the corresponding point number by the point zone output function
Zone outputs (ZONE 0, ZONE 1) are also explained here.
PO3
3
(2
m-No. is output as binary value
Target position's point number
outputs 0 to 3*
(PO0 to PO3)
Zone output 0 (ZONE 0)
*Positive logic
Zone output 1 (ZONE 1)
*Positive logic
Current robot position
Point zone output range
q
* The number of target point number outputs that can be used depends on I/O assignment type.
Precondition: 1) The following steps are explained assuming that PRM59=221.
When the PRM59 setting = 221
I/O assignment type
Permissible number of movement points
Point output selection
Point zone judgment method
(position judgment parameter)
2) The Zone 0 and Zone 1 output signals are enabled and set to positive output
by the Zone output selection parameter (PRM53).
(1) Target position's point number outputs PO0 to PO3 are off since the current 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.
(2) Outputs the corresponding point number through PO0 to PO3 since the current robot posi-
tion 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 PO0 to PO3, 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 PO0
to PO3 are still off since the robot is not within the point zone output range.
(5) Outputs the corresponding point number through PO0 to PO3 since the current robot posi-
tion 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).
PO2
PO1
PO0
PO3
PO2
2
1
0
3
2
)
(2
)
(2
)
(2
)
(2
)
(2
)
OFF
OFF
Point output
(point m)
Pm
P
P900
P901 P902
a
a
Zone output range
w
e
r
Type 2 (Point No. output type)
16 points
Point zone output
OUT valid position
PO1
PO0
PO3
PO2
PO1
PO0
1
0
3
2
1
0
(2
)
(2
)
(2
)
(2
)
(2
)
(2
OFF
OFF
n-No. is output as binary value
Point output
(point n)
Pn
P903
Point zone output range
Zone output range
t
a : Range specified by the position judgment parameter
(In this case, this is the OUT valid position range.)
)
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