Yamaha RCX240, User Manual

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Chapter 4 OPERATION
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Chapter 4 OPERATION
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12. "SYSTEM" mode
12. MOVEI/DRIVEI start pos./MOVIMD
When the robot stops during execution of a relative movement command due to an interlock
or emergency stop, this parameter sets whether to keep the initial target position or set a new
target position relative to the current position (stopped position) after the robot movement is
resumed. When initialized, this parameter is set to “Keep”.
n
NOTE
This parameter's factory setting (when shipped) is "Keep".
• Controllers with software version 10.01 to 10.36 or version 10.50 to 10.56
Setting Meaning
Keep (Default setting)
Motion to the original specified target position occurs when
operation resumes after a relative motion interruption. Target
position is unchanged.
Reset
Motion to a new, current position referenced target position occurs
when operation resumes after a relative motion interruption. The
original target position (prior to re-execution) is changed to a new
target position. (Compatible with previous versions)
• Controllers with software version 10.37 to 10.49 or version 10.57 onward
Setting Meaning
Keep (Default setting)
When relative movement is interrupted and then resumed, the
robot moves to complete the remaining movement. The target
position is not changed even after movement is resumed.
If return-to-origin or absolute reset is performed after an
interruption of relative movement, the target position will be reset.
Reset
When relative movement is interrupted and then resumed, the
robot moves to a new relative position from the current position
(stopped position). The target position is changed after movement
is resumed.
Keep 2
When relative movement is interrupted and then resumed, the
robot moves to complete the remaining movement. The target
position is not changed even after movement is resumed.
Even if return-to-origin or absolute reset is performed after an
interruption of relative movement, the target position will not be
reset. (Compatible with previous versions)
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Select "12. MOVEI/DRIVEI start pos." in "SYSTEM>PARAM>OTHERS"
mode.