Yamaha DRCX User Manual page 55

3-7 I/O Assignment Change Function
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CAUTION
When using PO as an output signal that indicates the target position's point number for point movement
commands (ABS-PT, INC-PT):
• If moving the robot to point 0 with at the first point movement command which is executed after turning the
controller on, all the PO0 to PO5 signals still remain off (because P0 = 000000
robot has moved to point 0. This means that the PO0 to PO5 signal statuses do not change even after the
robot has moved to P0, so no information is available to indicate whether the robot motion to P0 is complete
(or whether the movement command was received). This should be kept in mind when moving the robot to
point 0.
When using PO as an output signal that indicates the corresponding point number at the point zone output
function or the movement point zone output function:
• If outputting point 0 (P0) as the corresponding point for the point zone output function or the movement
point zone output function, all the PO0 to PO5 signals remain off (because P0 = 000000
means that the PO0 to PO5 signal statuses do not change even after the robot has entered the zone specified
by P0. This should be kept in mind when monitoring P0.
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NOTE
When using PO as an output signal that indicates the target position's point number for point movement commands
(ABS-PT, INC-PT):
• When a point movement is received through a parallel I/O, the target position's point number is output to the
corresponding parallel I/O (PO0 to PO5). When received through a serial I/O such as a CC-Link, the target
position's point number is output to the corresponding serial I/O (PO200 to PO205).
• All PO outputs are reset (OFF) when a program reset is performed.
When using PO as an output signal that indicates the corresponding point number at the point zone output
function:
• 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).
• All PO outputs are reset (OFF) when a program reset is performed.
When using PO as an output signal that indicates the corresponding point number at the movement point zone
output function:
• The corresponding point number for the movement point zone output function is output to both the corresponding
parallel I/O (PO0 to PO5) and the serial I/O (PO200 to PO205).
• Movement points are reset immediately after a controller power on, and all PO outputs are therefore turned
off at that time. Movement points are also reset if a program reset is performed, and the movement point zone
PO outputs are reset (OFF) at that time as well.
■ Return-to-origin complete output / Zone output 0 (ORG-O / ZONE0)
This output notifies that return-to-origin operation is complete.
The ORG-O output turns on when return-to-origin is complete. It remains off as long as return-
to-origin is incomplete.
When Zone 0 output is enabled with PRM24 (Zone output selection parameter), the ORG-O
output is used as the output port of Zone 0. For details on the zone output signal, refer to "5.2
Parameter Description".
■ Servo status output / Zone output 1 (SRV-O / ZONE 1)
The SRV-O output turns on when the servo is on and turns off when the servo is off.
When Zone 1 output is enabled with PRM24 (Zone output selection parameter), the SRV-O out-
put is used as the output port of Zone 1. For details on the zone output signal, refer to "5.2 Param-
eter Description".
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