User`s manual
43
CHAPTER2 DeviceNet Unit
■ Point data write command (PSET)
Writes the current position data in the specified point number.
To use this command, the point number for writing the current position data must
first be specified using a PI (point number designation input) input.
The PSET is enabled only when return-to-origin has been completed.
■ Target position's point number outputs 200 to 205 (PO200 to PO205)
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 2-7-2, "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 nar-
rowed to correspond 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
Point zone output range
a : Position judgment parameter range
(selected by the PRM59 "thousands" digit value)
PO
OFF
ON
OFF
For single-axis controller
aa
Corresponding point (Pn)
PO : OFF PO
:
OFF
Corresponding point (Pn)
a
a
b
b
ポイントゾーン出力範囲
ポイントゾーン出力範囲
Point zone output range
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" di
g
it value)
For dual-axis controller