dioConstantDistanceIoOut
(Library)
[Version 3.0 or later]
Inverse the output signal on the specified I/O port each time the associated axis is driven by the specified angle (distance for Z axis or direct-acting axis).
dioConstantDistanceIoOut(<detection_cycle>)
The angle (distance) of each axis and the associated I/O output port number should be defined beforehand with the teach pendant or in WINCAPS III as shown below. Executing this library detects the angle (distance) of each axis in <detection_cycle> and inverses the output signal on the specified I/O port each time the associated axis is driven by the specified angle (distance).
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Access : Teach pendant[F4 I/O] - [F6 Aux.] - [F1 Set H/W]
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Access : WINCAPS IIIFrom the Project menu, choose Parameters and click the I/O tab.
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Item
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No.*
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Parameter name
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Description
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|---|---|---|---|
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I/O output port numbers for the 1st to 8th axes
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85
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OutPut Pos - IO number (J1)
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Enter the desired output port number for each of the axes to be detected.
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86
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OutPut Pos - IO number (J2)
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||
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:
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:
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91
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OutPut Pos - IO number (J7)
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||
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92
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OutPut Pos - IO number (J8)
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||
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Angles (distances) for the 1st to 8th axes
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93
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OutPut Pos - detection angle (J1 deg*10^5)
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Enter the specified angle multiplied by 100000.
Specification of "0" does not inverse the output signal on the associated port.
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94
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OutPut Pos - detection angle (J2 deg*10^5)
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||
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:
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:
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99
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OutPut Pos - detection angle (J7 deg*10^5)
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||
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100
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OutPut Pos - detection angle (J8 deg*10^5)
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* In WINCAPS III, these numbers plus "1" are displayed.
<detection_cycle> is any of 0 through 32. Specification of "0" does not inverse the output signal even if this library executes.
The expression given below converts <detection_cycle> into the actual cycle in which the angle (distance) of each axis is detected.
Cycle = 250 µsec X <detection_cycle>
Requires a <pacman.h> file.
Executing this library with <detection_cycle> being set to "1" or more first turns the associated I/O output port off and then starts detection.
This function is optional. To use it, purchase the license.
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TAKEARM
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DRIVEA @E (4,-180)
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'Move the 4th axis back to the initial position
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CALL dioConstantDistanceIoOut(1)
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'Start detection in 250 usec cycles
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DRIVEA @E (4,180)
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'Rotate the 4th axis 360 degrees
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CALL dioConstantDistanceIoOut(0)
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'Stop detection
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