Table of Contents
xvi
HW1485509
HW1485509
6.3.2 Methods for User Frame Setting......................................................................... 6-22
6.3.3 User Frame Number ........................................................................................... 6-22
6.3.4 User Frame Setting.............................................................................................6-23
6.3.5 Deleting the User Frame.....................................................................................6-25
6.4 Zones............................................................................................................................... 6-26
6.4.1 Cubic Zone ......................................................................................................... 6-26
6.4.1.1 Cubic Zone Setting Operation ...............................................................6-27
6.4.2 Axis Zone............................................................................................................ 6-30
6.4.2.1 Axis Zone Setting Operation..................................................................6-30
6.4.3 Zone Status ........................................................................................................6-32
6.5 Shock Detection Setting...................................................................................................6-34
6.5.1 Shock Detection Overview.................................................................................. 6-34
6.5.2 Shock Detection Setting Interface ......................................................................6-34
6.5.3 Using Multiple Shock Detection Settings ............................................................ 6-38
6.5.4 Shock Detection Watch ...................................................................................... 6-39
6.6 Robot Configuration Positions .........................................................................................6-40
6.6.1 Robot Position Types..........................................................................................6-41
6.6.2 Move to a Robot Position....................................................................................6-42
6.6.3 Edit a Robot Position ..........................................................................................6-42
6.6.4 Robot Position Confirm Procedure ..................................................................... 6-43
6.7 Home Position Calibration ............................................................................................... 6-46
6.7.1 Verification of Home Position Calibration ...........................................................6-48
6.7.2 Home Position Calibration Methods ................................................................... 6-49
6.7.2.1 Individual Axis Calibration Procedure....................................................6-50
6.7.2.2 All Axes Calibration Procedure.............................................................. 6-51
6.7.2.3 Manual Calibration Procedure............................................................... 6-52
7 Concurrent I/O (Input/Output) ......................................................................................................... 7-1
7.1 Features of Concurrent I/O ................................................................................................ 7-1
7.2 Classification of I/O signals................................................................................................7-2
7.3 I/O Instructions................................................................................................................... 7-3
7.3.1 DigitalOut Output#( )............................................................................................. 7-3
7.3.2 Digital Output for a Group.....................................................................................7-4
7.4 Monitoring I/O from Smart Pendant Interface ....................................................................7-5
7.4.1 Monitoring I/O Signals by I/O Monitor................................................................... 7-5
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