IAI America XSEL-S - Manual (Page 403)

Chapter 6 Parameter
6.10 Parameter Setting (Applied)
395
6.10.20 Want to output that a single axis actuator got into the area (zone) which
has been set
Four areas (zones) and output ports can be set to each axis of single axis actuators. It can be
confirmed that the actuator got into the area (zone) which has been set.
It is necessary to secure 3msec or more for zone going-through time for the process of output
signal.
However, for SCARA Robot, it is a simple interference check zone which differs from this
setting.
[Refer to SEL language programming manual]�
Current Position Output port: Set in Each Axis Parameter No. 88
Zone 1 Invasion ON
Zone 1 Not Invasion OFF
Current Position Output port: Set in Each Axis Parameter No. 91
Zone 2 Invasion ON
Zone 2 Not Invasion OFF
Current Position Output port: Set in Each Axis Parameter No. 94
Zone 3 Invasion ON
Zone 3 Not Invasion OFF
Current Position Output port: Set in Each Axis Parameter No. 97
Zone 4 Invasion ON
Zone 4 Not Invasion OFF
Parameter No. Set Value Description
Each Axis Parameter No.86 Zone 1 maximum value
Each Axis Parameter No.87 Zone 1 minimum value
Each Axis Parameter No.88 Zone 1 Output port No.
Each Axis Parameter No.89 Zone 2 maximum value
Each Axis Parameter No.90 Zone 2 minimum value
Each Axis Parameter No.91 Zone 2 Output port No.
Each Axis Parameter No.92 Zone 3 maximum value
Each Axis Parameter No.93 Zone 3 minimum value
Each Axis Parameter No.94 Zone 3 Output port No.
Each Axis Parameter No.95 Zone 4 maximum value
Each Axis Parameter No.96 Zone 4 minimum value
Each Axis Parameter No.97 Zone 4 Output port No.
(Note) Output port cannot be set duplicated.�