Contents
vi
Page
(7) NETHSTIP (The IP address of the server of the data communication point). .............. 5-490
(8) MXTTOUT (Timeout setting for executing real-time external control command) ......... 5-490
5.15.2 Example of setting of parameter 1 (When the Support Software is used) .................... 5-491
5.15.3 Example of setting of parameter 2-1 ............................................................................. 5-492
5.15.4 Example of setting parameters 2-2 ............................................................................... 5-493
5.15.5 Example of setting parameters 3 .................................................................................. 5-494
5.15.6 Connection confirmation ............................................................................................... 5-495
5.15.7 Checking the connection with the Windows ping command ......................................... 5-495
5.16 Hand and Workpiece Conditions (optimum acceleration/deceleration settings) ................. 5-496
5.17 About the singular point adjacent alarm .............................................................................. 5-498
5.18 High-speed RAM operation function ................................................................................... 5-499
5.19 Warm-Up Operation Mode .................................................................................................. 5-502
5.20 About singular point passage function ................................................................................ 5-509
5.21 About the collision detection function .................................................................................. 5-514
(1) Overview of the function ............................................................................................... 5-514
(2) Related parameters ...................................................................................................... 5-515
(3) How to use the collision detection function .................................................................. 5-516
5.22 Optimizing the overload level .............................................................................................. 5-521
5.23 Multi-rotational restrictions for the pallet definition instruction ............................................ 5-522
5.24 Interference avoidance function .......................................................................................... 5-523
5.24.1 Operation procedures ................................................................................................... 5-524
5.24.2 Preparing and connecting the devices .......................................................................... 5-525
5.24.3 Registering the simulated components for interference check ..................................... 5-526
5.24.4 Registering a free plane limit ........................................................................................ 5-534
5.24.5 Support of additional axes ............................................................................................ 5-536
5.24.6 Setting the shared memory expanded function (Checking for interference between robots) .
5-537
5.24.7 Calibration between robots (Checking for interference between robots) ...................... 5-539
5.24.8 Enabling and disabling the interference avoidance function ......................................... 5-541
5.24.9 Using the interference avoidance function .................................................................... 5-541
5.24.10 Sample programs ....................................................................................................... 5-543
5.25 Sequencer input/output unit direct control .......................................................................... 5-545
(1) Specification ................................................................................................................. 5-545
(2) The outline of the operating procedure ........................................................................ 5-546
(3) Description of the parameter ........................................................................................ 5-546
(4) Set up "Multiple CPU settings" of the sequencer ......................................................... 5-547
(5) Description of the Robot Status Variable ..................................................................... 5-548
5.26 Direct communication with robot CPUs .............................................................................. 5-549
(1) Specification ................................................................................................................. 5-549
(2) The usage .................................................................................................................... 5-549
(3) Description of the status variable ................................................................................. 5-549
5.27 Parameter for behavior selection at the error occurrence on dual system ......................... 5-550
6 External input/output functions .................................................................................................... 6-551
6.1 Types .................................................................................................................................... 6-551
6.2 Sequencer link I/O function ................................................................................................... 6-552
6.2.1 Parameter setting ........................................................................................................... 6-552
(1) Sequencer CPU parameter setting .............................................................................. 6-552
(2) Robot CPU parameter setting ...................................................................................... 6-553
6.2.2 CPU shared memory and robot I/O signal compatibility ................................................. 6-555
6.2.3 Sequence ladder example .............................................................................................. 6-555
6.2.4 Assignment of the dedicated I/O signal. (at factory shipping) ......................................... 6-557
6.3 Dedicated input/output .......................................................................................................... 6-559
6.4 Enable/disable status of signals ............................................................................................ 6-571
6.5 External signal timing chart ................................................................................................... 6-572
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