Concurrent I/O•Parameter - Motoman

1.6 Specific Output Signals (5xxx)For a system with one manipulator, use signal No. 5086.Interference SignalsStateState5110 to 5137: IN-CUBEThese signals indicate the area in which the current control point is positioned in theinitially set area. Set the area by parameters (S2C003 to S2C074, S3C024 toS2C407). These can be used to prevent interference with other manipulators or jigs.5140, 5141, 5150, 5151, 5161, 5162: S-AXIS INTERFERENCEAREAThese signals indicate the area in which the current S-Axis is positioned in the initiallyset area. Set the area by parameters (S2C002, S3C018 to S3C023). These can beused to prevent interference with other manipulators or jigs.Relation Between the Area and the SignalState5144, 5154, 5164, 5146, 5156, 5166, 5147, 5157, 5167: MOVINGSPHERE INTERFERENCE AREAThese signals indicate that interference exists by the moving sphere interferencecheck. Areas set by parameters (S2C257 to S2C259, S3C409 to S3C411). Thesesignals can be used for the manipulator interference check period.Arithmetic Instruction SignalState5260, 5261, 5262: Arithmetic FlagThis is a signal which reflects the result of the arithmetic instruction in the followingsteps. There are three kings of flag: Carry Flag(5060), Zero Flag(5061), ErrorFlag(5062).1-49