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
13. DI17 mode /DI17MD
Operation to be performed by dedicated input DI17 can be selected. Use this parameter to
select either of the following operations.
This parameter is reset to "ABS" when robot numbers are set by generation.
Setting Meaning
ABS
DI17 is only used for "absolute reset".
When the DI17 contact is closed (ON) in "MANUAL" mode, absolute
reset is performed on absolute type axes at the rising edge of the
signal pulse according to the return-to-origin sequence.
Use this setting when only absolute type axes exist or when both
absolute type axes and incremental type axes exist. In the latter
case, absolute reset is performed by DI17, and return-to-origin
performed by DI14.
ABS/ORG
DI17 is used for both "absolute reset" and "return-to-origin". Use this
setting to perform both absolute reset and return-to-origin by DI17.
When the DI17 contact is closed (ON) in "MANUAL" mode, absolute
reset and return-to-origin are performed at the rising edge of the
signal pulse according to the return-to-origin sequence.
Absolute reset is first performed on an absolute type axis if it exists,
and then return-to-origin performed on incremental type axes. In
most cases, do not use this setting. Use this setting only when
return-to-origin signal must be input to DI17. (For example, in cases
where an RCX141 or RCX221 controller was replaced by the
RCX240)
When both absolute type axes and incremental type axes exist, set
this parameter to "ABS" so that absolute reset is performed by DI17
and return-to-origin performed by DI14.
1
Select "13. DI17 mode" in "SYSTEM>PARAM>OTHERS" mode.
2
Press (EDIT).
ＳＹＳＴＥＭ ＞ＰＡＲＡＭ＞ＯＴＨＥＲＳ Ｖ１０．０１
９．ＴＲＵＥ ｃｏｎｄｉｔｉｏｎ −１
１０．Ｕｎｉｔ ｓｅｌｅｃｔ Ｎｏｒｍａｌ
１１．Ｅｒｒｏｒ ｏｕｔｐｕｔ（ＤＯ ＆ ＳＯ） Ｏｆｆ
１２．ＭＯＶＥＩ／ＤＲＩＶＥＩ ｓｔａｒｔ ｐｏｓ． Ｋｅｅｐ
１３．ＤＩ１７ ｍｏｄｅ ＡＢＳ
ＡＢＳ ＡＢＳ／ＯＲＧ
Setting "DI17 mode"
3
Press (ABS) or (ABS/ORG) to enter the setting.
4
Press to quit the edit mode.