Yamaha RCX40, User Manual

Page: 231 / 388

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Operation
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>OTHER V8.01
2.Data display length 6char
3.Parameter display unit PULSE
4.DO cond. on EMG HOLD
5.Watch on STD.DO 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
of the STD.DIO connector. This is automatically set 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>OTHER V8.18
3.Parameter display unit
PULSE
4.DO cond. on EMG
HOLD
5.Watch on STD.DO 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 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.