Yamaha RCX222, User Manual

Page: 258 / 524

4-160
Chapter
4
OPERA
TION
4-161
12. "SYSTEM" mode
When robot type is "MULTIXY"
• It is necessary to set the tip weight parameter for each axis. (Set the X-axis tip weight
and Y-axis tip weight.)
• Set the "Axis tip weight" axis parameter.
• Acceleration will not change even if the "Tip weight" robot parameter is changed.
When robot type is "COMPOXY"
• Set the weight of the workpiece held by the robot tip. With a three-axis (XYZ)
configuration, for example, the weight applied to the X-axis will be the combined tip
weight, Z-axis weight, and Y-axis weight.
• Set the "Tip weight" robot parameter.
• The value set for the "Arm length" parameter also affects acceleration. The effective
stroke for each axis must be entered for "Arm length".
■
Other parameters
Refer to "12.1.4 Other parameters" in this chapter for details on parameters.
No. Name Displayed name Identifier
Setting
range
Default
setting
Unit
1 Display language Display language
(JPN/ENG)
DSPLNG
JAPANESE,
ENGLISH
ENGLISH –
2
Data display
length
Data display
length
DATLEN
6 char,
8 char
6 char –
3
Parameter
display unit
Parameter display
unit
PDUNIT
PULSE,
MM/DEG
PULSE –
4
DO output at
emergency stop
DO cond. on EMG EMGCDO RESET,
HOLD
HOLD –
5
Incremental mode
control
Incremental Mode
control
INCMOD
VALID,
INVALID
INVALID –
6
DI noise
canceling
DI noise filter SCANMD VALID,
INVALID
VALID –
7 TRUE condition TRUE condition EXPCFG -1, no 0 -1 –
8 Unit selection Unit select PTUNIT
Normal,
J (pulse),
X (mm/°),
T (mm/°)
Normal –
9 Error output port Error output (DO &
SO)
ERPORT
OFF,
20 to 27
OFF –
10
MOVEI/DRIVEI
start position
MOVEI/DRIVEI
start pos.
MOVIMD Keep, Reset Keep –
11
Servo ON at
power-on
Servo on when
power on
SRVOON YES, NO YES –
12
Manual
movement mode
Manual move
mode
MOVMOD
NORMAL,
MODE1
NORMAL –
13
DO output at
Program reset
DO cond. on PGM
reset
RESCDO
RESET ,
HOLD
RESET –
14*
1
Point number
echo back
Echo point No. PNECHO
NO, MODE1,
MODE2
NO –
15
Do not load
undefined
parameters
Skip undefined
parameters
–
INVALID,
VALID
INVALID –
*1 This parameter is a special parameter and must be set to "NO".