Omron YRCX Series, Руководство по эксплуатации

Страница: 147 / 266

4
Edit
4-61
■
Parallel IO ID
‹
DIOID
›
This parameter sets allocate order to DIO in numeric value when several parallel I/O boards are inserted. When this
parameter is initialized, "1234" is set.
The numbers 1 to 4 correspond to the inserted parallel I/O board ID in the option board number order. The board
corresponded the number allocates ID to DIO in order from the left. In the case of normal I/O board, the ID is always "1"
no matter what is set.
Example:
Option board configuration
1: Dedicated parallel I/O board
2: General-purpose parallel I/O board 1
4: General-purpose parallel I/O board 2
Parallel I/O ID setting 3214
DI0 to DI3, DO0 to DO2 Dedicated parallel I/O board
DI4 to DI7, DO3 to DO5 General-purpose parallel I/O board 2
DI8 to DI11, DO6 to DO8 General-purpose parallel I/O board 1
■
PROFIBUS station address
‹
PBUSADD
›
This parameter sets the station number (the identifier to each node of the PROFIBUS) of the PROFIBUS-corresponding
unit. The setting range is between 1 and 125. When this parameter is initialized, "125" is set.
New setting value will be valid after turning off and on the power.
■
Gripper servo when emergency stop
‹
GEMGMD
›
This parameter sets the gripper servo status when the emergency stop button is pressed. When this parameter is
initialized, "1: ON" is set.
Setting Meaning
0: OFF The remote command cannot be used.
1: ON
The gripper servo is not turned off when the emergency button is pressed. Therefore, the gripper
keeps to grip the workpiece.
■
Include Gripper in Origin
‹
GORGMD
›
This parameter sets whether the gripper is added to the axes when return-to-origin operation of the entire robot.
When this parameter is initialized, "1: YES" is set.
The following operations enable this parameter:
• Return-to-origin by DI14 or DI17
• Return-to-origin by the programming language (ORIGIN)
• Return-to-origin by remote command
Setting Meaning
0: NO
The gripper is not added to the axes to be performed return-to-origin.
* Executes the online command @GORIGIN to perform return-to-origin of the gripper.
1: YES The gripper is added to the axes to be performed return-to-origin.
■
Manual Holding of Gripper
‹
GMHLMD
›
This parameter sets whether the gripper holds the workpiece by the jog movement online command (@GJOG, @GJOGXY).
When this parameter is initialized, "1: VALID" is set.
Setting Meaning
0: INVALID
The jog movement online command (@GJOG, @GJOGXY) is INVALID. If the gripper holds
the workpiece, "26.801: Gripper over load" alarm occurs.
1: VALID The jog movement online command (@GJOG, @GJOGXY) is VALID.