Omron YRCX Series Operation Manual Download

Page: 139 / 266

Edit

4-53

■

Tolerance

‹

TOLE

›

This parameter sets the positioning completion range to the target position when the robot moves. When this parameter is
initialized, the value unique to the model is set.
When the current position of the robot enters the specified range, this is judged to the positioning completion.

NOTE

Input the tolerance value with the 0 to 9 keys, "." key, and "-" key.
When the value that is input with the keys is a real number (numeric value including a period), the unit is
automatically converted into the pulse value.

Current position

Target position

Tolerance range

Tolerance range

CAUTION

If the tolerance value is made small, a variation in robot positioning time may occur.

■

OUT position

‹

OUTPOS

›

This parameter sets the execution completion range to the target position when a movement command is executed.
However, it applies to only the PTP motion.
When the current position of the robot enters the specified range, this is judged to the movement command execution
completion. However, the movement to the target position continues. The larger the value is, the shorter the time until
the next command executed is.
When executing the movement command continuously, the next movement command cannot be executed until the
positioning is completed even when the previous movement command line has been completed.
When this parameter is initialized, the value unique to the model is set.

NOTE

Input the OUT valid position with the 0 to 9 keys, "." key, and "-" key. When the value input with the keys is a real
number (numeric value including a period), the unit is converted into the pulse value.

Current position

OUT valid position range

Target position

Tolerance range

OUT valid position range

CAUTION

If the tolerance value is larger than the OUT valid position value, both the command execution and positioning
are completed when it enters the OUT valid position range.

■

CONT pulse

‹

CONTPLS

›

This parameter sets the execution completion range to the target position when the movement command specified as
CONT option is executed in the program. However, this parameter applies to only the PTP motion. When this parameter
is initialized, the value unique to the model is set.
When the current position of the robot enters the specified range, this is judged to the movement command execution
completion. However, the movement to the target position continues. The larger the value is, the shorter the time until
the next command execution is.
When executing the movement command continuously, the next movement command cannot be executed until the
positioning is completed even when the previous movement command line has been completed.

CAUTION

The movement command is judged by the OUT valid position value when the CONT pulse value is "0". If the
tolerance value is larger than the OUT valid position value, both the command execution and positioning are
completed when it enters the OUT valid position range.