Yamaha RCX142, User Manual

Page: 13 / 450

v
12.2 Communication parameters ............................................................ 4-187
12.3 OPTION parameters ....................................................................... 4-193
12.3.1 Setting the area check output ........................................................................ 4-194
12.3.2 Setting the “SERVICE” mode ......................................................................... 4-199
12.3.2.1 Saving the “SERVICE” mode parameters ........................................................ 4-204
12.3.2.2 Help display in “SERVICE” mode ................................................................... 4-204
12.3.3 SIO settings ................................................................................................... 4-205
12.3.4 Double-carrier setting ................................................................................... 4-208
12.3.4.1 Before using a double-carrier ........................................................................ 4-208
12.3.4.2 Setting the double-carrier parameters ............................................................ 4-209
12.4 Initialization .................................................................................... 4-212
12.4.1 Initializing the parameters ............................................................................. 4-213
12.4.2 Initializing the memory ................................................................................. 4-214
12.4.3 Initializing the communication parameters ................................................... 4-215
12.4.4 Clock setting ................................................................................................. 4-216
12.4.5 System generation ......................................................................................... 4-217
12.5 Self diagnosis .................................................................................. 4-218
12.5.1 Controller check ........................................................................................... 4-218
12.5.2 Error history display ...................................................................................... 4-219
12.5.3 Displaying the total operation time ............................................................... 4-220
12.5.4 System error details display ........................................................................... 4-220
12.6 Backup processes ............................................................................ 4-221
12.6.1 Internal flash ROM ....................................................................................... 4-221
12.6.1.1 Loading files .................................................................................................. 4-222
12.6.1.2 Saving files .................................................................................................... 4-223
12.6.1.3 Initializing the files ........................................................................................ 4-223
13. “MONITOR” mode ...............................................................4-224
14. “UTILITY” mode ....................................................................4-227
14.1 Canceling emergency stop; Motor power and servo on/off .............. 4-228
14.1.1 Canceling emergency stop ............................................................................ 4-228
14.1.2 Motor power and servo on/off ....................................................................... 4-229
14.2 Enabling/disabling the sequence execution flag .............................. 4-230
14.3 Changing the arm type .................................................................... 4-231
14.4 Resetting the output ports ................................................................ 4-232
14.5 Changing the execution level .......................................................... 4-233
14.5.1 Changing the execution level ........................................................................ 4-234
14.5.2 Displaying the Help message ........................................................................ 4-235
14.6 Changing the access level (operation level) ..................................... 4-236
14.6.1 Entering the password ................................................................................... 4-236
14.6.2 Changing the access level ............................................................................. 4-237
14.6.3 Displaying the Help message ........................................................................ 4-237
Chapter 5 Two-robot setting
1. Explanation of two-robot setting................................................5-1
1.1 Two-robot setting ................................................................................ 5-1
1.2 System configuration example ............................................................ 5-2
2. Operations and data when using the two-robot setting .............5-3
2.1 "AUTO" mode ..................................................................................... 5-3
2.1.1 Changing the automatic movement speed ........................................................ 5-3
2.1.2 Executing the point trace .................................................................................. 5-4
2.2 "MANUAL" mode ............................................................................... 5-5
2.2.1 Current position ................................................................................................ 5-5
2.2.2 Manual movement ............................................................................................ 5-6
2.2.3 Point data ......................................................................................................... 5-8