5-466
Command parameter
5Functions set with parameters
User error setting
UER1
to UER20
Integer 1,
Character
string 3
Sets the message, cause, and method of recovery for errors
from the Error instruction. Maximum of 20 user errors can be
set.
First element: error number to set (9000 to 9299 is the available
range). The default value 9900 is not available. Change the
value before proceeding.
Second element: Error message
Third element: Cause
Fourth element: Method of recovery
If a space character is included in the message, enclose the
entire message in double quotation marks ("").
Example)9000,"Time Out","No Signal","Check Button"
•The message cannot include a comma (,), semicolon (;), and
backslash (\).
•The value of the first digit can function in an auxiliary manner.
For example, enter a message in No. 9000, and the message
will be displayed when any of the error of Nos. 9001 to 9009
occurs.
9900,"mes-
sage","cause","tre
at"
Unit setting for the
rotational element
of position data
PRGMDEG
Integer 1
Specifies the unit used for describing the rotational element of
position data in the robot program.
0:Rad
1:Deg
Example)M1=P1.A (Unit for this case is specified.)
(Default unit for referencing data components is radian.)
The default rotational element for the position constant
(P1=(100, 0, 300, 0, 180, 0, 180) (7, 0)) is Deg. This parameter
is irrelevant.
0(Rad)
Decimal place
PRG-
DPNTM
Integer 1
Specify the number of decimal digits for the position-type vari-
able and the joint-type variable.
Specify two or three places after the decimal point.
3: RH-FH, RH-
3FHR
2: Other than the
above
Robot language
setting
RLNG
Integer 1
Select the robot language
2:MELFA-BASIC V
1:MELFA-BASIC IV
2
Display language
Note1)
LNG
Character
string 1
Set up the display language.
"JPN":Japanese
"ENG":English
The following language is changed.
(1) Personal computer support software.
*alarm message of the robot.
*Parameter explanation list.
(2)Alarm message that read from the robot with external com-
munication. (Standard RS232C, Extended serial I/F, Ethernet
I/F)
The "JPN" is Japa-
nese specification.
The "ENG" is Eng-
lish specification.
Extension of exter-
nal variable
PRGGBL
-
Sets "1" to this parameter, and turns on the controller power
again, then the capacity of each program external variable will
double.
However, if a variable with the same name is being used as a
user-defined external variable, an error will occur when the
power is turned ON, and it is not possible to expand. It is neces-
sary to correct the user definition external variable.
1
Compile mode
PRGMODE
Integer 1
Program processing speed is improved when compile execution
mode is valid.
0: compile mode is invalid
1: compile mode is valid
1
Duplication func-
tion of program
*Available soft-
ware versions
S/W Ver.
F-Q series:
R4 or later
F-D series:
S4 or later
PRGDUP
Integer 1
Specifies whether or not to duplicate the program. Performing
the duplication enables automatic restoration when a program
error occurs due to noise, etc.
0: Disable
1: Enable
Note) By duplicating the program, the capacity of the program
save area is reduced to 1/2.
0
Parameter
Parameter
name
No. of arrays
No. of characters
Details explanation
Factory setting
