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■ Target position's point number outputs 0 to 5 (PO0 to PO5)
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
3.2.1, "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 corre-
spond 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：OFF
Corresponding point (Pn)
Target position point numbers for point movement commands (ABS-PT, INC-PT) are output as
binary values. The same applies to point numbers which correspond to the point zone output
function and the movement point zone output function.
The PO output format is determined by the PRM26 (I/O assignment selection parameter)
setting's "hundreds" digit value.
0: PO output occurs at normal movement completion.
1: PO output occurs when movement command is received.
2: Point zone output
(PO output occurs when the current position enters the point data (registered at the
controller) ± position judgment parameter range.)
3: Movement point zone output (supported only by Ver. 18.64 and later versions)
(PO output occurs when the current position enters the point data registered at the
controller, and the point movement command's (ABS-PT, INC-PT) movement point data
± position judgment parameter range.)
Output example
PO No.
PO5
5
Point No.
(2
P0
OFF
P1
OFF
P7
OFF
P31
OFF
P63
ON
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Point zone output range
Point zone output range
Point zone output range
b
b
PO：ON
PO4
PO3
PO2
PO1
4
3
2
)
(2
)
(2
)
(2
)
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
3-7 I/O Assignment Change Function
a
a
PO：OFF
a: X-axis position judgment parameter range
(selected by the PRM26 "thousands" digit value)
b: Y-axis position judgment parameter range
(selected by the PRM26 "thousands" digit value)
PO0
1
0
(2
)
(2
)
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
3
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3-
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