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7
Contr
oller system settings
7-14
• Set the workpiece weight held at the robot tip for the tip weight of the robot parameters.
• The value of the arm length parameter may affect the acceleration. The effective stroke value of each axis needs to
be input for the arm length.
■
I/O parameters
For details about parameters, refer to "10.7 I/O parameters" in this Chapter.
Name
Identifier
Setting range
Initial value
DO output at emergency stop
EMGCDO
0: IO_RESET, 1: IO_HOLD
1
Error output (DO & SO)*
ERPORT
0 to 0277 (Octal)
0
Battery warning output (DO & SO)*
BTALRM
0 to 0277 (Octal)
0
DIO Noise Cancel Num.
DIOCAN
0 to 7
1
DO output at program reset
RESCDO
0: IO_RESET, 1: IO_HOLD
0
Remote command
RMTCMD
0: INVALID, 1: VALID
1
DI17 mode
DI17MD
0: ABS, 1: ABS_ORG
0
Indiv. Origin
IOORGMD
0: INVALID, 1: VALID
0
Axes sel. port (DI & SI)
IOORGIN
2 to 027 (Octal)
2
Done output port (DO & SO)*
IOORGOUT
0 to 027 (Octal)
0
Servo output port (DO & SO)*
IOSRVOUT
0 to 027 (Octal)
0
Gripper origin axes select port (DI & SI)*
GRPORGIN
0 to 027 (Octal)
0
* New setting values will be valid after turning off and on the power.
■
Option parameters
For details about parameters, refer to "10.8 Option board related parameters" in this Chapter.
Name
Identifier
Setting range
Initial
value
Separate
manual
Option board enable*
OPTENBL
0: INVALID, 1: VALID
1
Parallel IO ID*
DIOID
1234 to 4321
1234
PROFIBUS station address*
PBUSADD
1 to 125
125
✔
Gripper servo when emergency stop
GEMGMD
0: OFF, 1: ON
1
✔
Include Gripper in Origin
GORGMD
0: NO, 1: YES
1
✔
Manual Holding of Gripper
GMHLMD
0: INVALID, 1: VALID
1
✔
Gripper origin sequence
GORGORD
1234 to 4321
1234
✔
Gripper origin priority
GORGPRI
0: AFTER, 1: BEFORE
0
✔
DeviceNet address ID
DEVADD
0 to 63
0
✔
DeviceNet baudrate
DEVCOM
0:125K, 1:250K, 2: 500K, 3: AUTO
0
✔
DeviceNet I/O type
DEVTYP
0: NORMAL, 1: COMPACT
0
✔
EtherNet/IP IP address
EIPADD
0.0.0.0 to 255.255.255.255
0.0.0.0
✔
EtherNet/IP subnet mask
EIPSUB
0.0.0.0 to 255.255.255.255
0.0.0.0
✔
EtherNet/IP default gateway
EIPDEF
0.0.0.0 to 255.255.255.255
0.0.0.0
✔
EtherNet/IP DHCP enable
EIPDHCP
0: INVALID, 1: VALID
0
✔
* New setting values will be valid after turning off and on the power.
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