Yamaha DRCX User Manual page 65

3-7 I/O Assignment Change Function
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NOTE
• The movement point zone output function is supported only in Ver. 18.64 and later versions.
• When using an optional unit such as CC-Link, the corresponding point number for the movement point zone
output function is output to the corresponding parallel I/O (PO0 to PO5) and the serial I/O (PO200 to PO205).
• The movement point number specified just prior to movement START by point movement command (ABS-PT, INC-PT)
is registered as the movement point.
• Because movement points are reset immediately after a controller power on, all PO outputs turn off.
Movement points are also reset when the RESET command is executed, and movement point zone outputs by PO
are cleared.
• The point zone judgment method can be selected as either the "OUT valid position" or "Positioning-completed
pulse" (this setting is specified by the PRM26 setting's "thousands" digit value).
• The "OUT valid position" can be changed by parameter setting (X-axis: PRM56, Y-axis: PRM96).
• The "Positioning-completed pulse" can be changed parameter setting (X-axis: PRM53, Y-axis: PRM93).
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CAUTION
• All the PO0 to PO5 outputs are off when the robot is not within the point zone output range.
• A 10ms sampling time is needed for position monitoring, so the point zone output may not be detected during
high-speed robot motion.
• For movement point zone output and zone output, PO and ZONE 0, ZONE 1 are output only when all robot
axes are within the specified zone output ranges.
• When outputting point 0 (P0) as the corresponding point for the movement point zone output function, all the
PO0 to PO5 outputs remain off (because P0 = 000000
change even after the robot has entered the zone specified by P0. This should be kept in mind when monitoring
P0.
). Therefore, the PO0 to PO5 statuses do not
(binary)