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4
Edit
4-44
7.3 Parameter list
■
Controller parameters
For details about parameters, refer to "10.4 Controller parameters" in this Chapter.
Name
Identifier
Setting range
Initial value
Unit
Incremental Mode control
INCMOD
0: INVALID, 1: VALID
0
MOVEI/DRIVEI start pos.
MOVIMD
0: KEEP, 1: RESET
0
MOVET start pos.
MOVTMD
0: KEEP, 1: RESET
0
Servo on when power on
SRVOON
0: INVALID, 1: VALID
0
Sequence flag
*1
SEQFLG
0: INVALID, 1: VALID
3: VALID & EMG-Reset
0
Safe mode flag
*1
SAFEMODE
-2147483648 to 2147483647
-1
Permission to start program in origin
non-completion
RUNINOIC
0: INVALID, 1: VALID
0
Permission to reset at controller boot
RSTATBOT
0: INVALID, 1: VALID
0
Permission to reset at program start
RSTATRUN
0: INVALID, 1: VALID
0
Current program no.
CRNTPG
0 to 100
0
Main program no.
MAINPG
0 to 100
0
INPUT/PRINT using channel
STDPRN
1: PB, 2: CMU, 3: ETH
1
Emergency time
*1*2
EMGTIM
0 to 2000
1000
ms
Emergency time 2
*1*2
EMGTIM2
0 to 2000
300
ms
Debug start mode
DBGSTAMD
0: LOAD, 1: START
0
Break point stop mode
BRKSTPMD
0: HOLD, 1: HALDALL
1
Shift on area check out
SFTONACO
0: INVALID, 1: VALID
1
*1 Contact your distributor for changing these parameters as editing them may influence the robot control.
*2 New setting values will be valid after turning off and on the power.
NOTE
This manual describes the controller parameters shown above.
Others are normally write-protected. When such parameters need to be changed, contact your distributor.
■
Robot parameters
For details about parameters, refer to "10.5 Robot parameters" in this Chapter.
Name
Identifier
Setting range
Initial value
Unit
Tip weight (kg)
WEIGHT
0 to 500
Depends on the model.
kg
Tip weight (g)
WEIGHTG
0 to 500000
Depends on the model.
g
Origin sequence
ORGORD
0 to 654321
312456
R axis orientation
RORIEN
0: KEEP, 1: FREE
0
Arm type at reset
ARMTYP
0: NONE, 1: RIGHT, 2: LEFT
0
MOVE L coef.
CPACRAT
1 to 100
100
%
R axis inertia
SCRINR
0 to 32767
0
10
-4
kgm
2
R axis inertia offset
INROFST
0 to 32767
0
0.001 mm
MOVE L max speed
CPVMAX
1 to 32767
750
mm/s
MOVE L accel.
CPACCL
1 to 32767
500
mm/s
2
MOVE L comp. curve
CPCMPCRV
0 to 255
0
MOVE L comp. velocity
CPCMPVL
1 to 32767
500
mm/s
Zone control
ZONCTRL
0: INVALID, 1: VALID
0
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