Yamaha RCX142, User Manual

Page: 236 / 450

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174
Operation
4
12. “SYSTEM” mode
6. Incremental Mode control /INCMOD
This parameter sets whether to have origin incomplete status every time power to this
controller is turned on. This is automatically set invalid when the parameters are
initialized.
[Procedure]
1) Select “6. Incremental Mode control” in “SYSTEM>PARAM>OTHERS” mode.
2) Press the
F 1
(EDIT) key.
The function key menu changes.
Fig. 4-12-36 Setting “Incremental Mode control”
SYSTEM >PARAM>OTHERS V8.35
2.Data display length 6char
3.Parameter display unit PULSE
4.DO cond. on EMG HOLD
5.Watch on STD.DIO DC24V VALID
6.Incremental Mode control INVALID
INVALID VALID
3) Press the
F 1
(INVALID) or
F 2
(VALID) key.
4) Press the
ESC
key to quit the edit mode.
7. IO cmd (DI05) on STD.DIO/STDPRM
This parameter sets whether to enable or disable the command function that uses DI05
(I/O command execution trigger input) of the STD.DIO connector. This is automatically
set to "INVALID" when the parameters are initialized.
[Procedure]
1) Select “7. IO cmd (DI05) on STD.DIO" in "SYSTEM>PARAM>OTHERS" mode.
2) Press the
F 1
(EDIT) key.
The function key menu changes.
Fig. 4-12-37
SYSTEM >PARAM>OTHERS V8.35
3.Parameter display unit
PULSE
4.DO cond. on EMG
HOLD
5.Watch on STD.DIO DC24V
VALID
6.Incremental Mode control
INVALID
7.IO cmd (DI05) on STD.DIO
VALID
INVALID VALID
3) Press the
F 1
(INVALID) or
F 2
(VALID) key.
4) Press the
ESC
key to quit the edit mode.
n
NOTE
• When this parameter is valid
(enabled), return-to-origin will
always be incomplete each time
the controller power is turned on.
Absolute reset must therefore
always be performed.
• Enable this parameter if the
controller does not have an
absolute battery installed.
c
CAUTION
This parameter must be disabled
(invalid) if the robot has an axis using
the mark method for origin detection.
n
NOTE
• Command functions using DI05 (I/O
command execution trigger input) of
the STD.DIO connector utilize part
of the general-purpose input and
output. When you are utilizing a
general-purpose input and output,
the value may change so use caution
when using such commands.
• For detailed information on I/O
commands, refer to the programming
manual.