Yamaha RCX222 User Manual page 261

11. Ser vo on when power on / SRVOON
Use this parameter to select whether to start the controller with servo-on or servo-off
when the controller power is turned on.
When robot numbers are set by generation, this parameter is reset to "YES".
Setting
YES
NO
[Procedure]
1) Select "11. Servo on when power on" in "SYSTEM>PARAM>OTHERS" mode.
2) Press (EDIT).
■ Setting "Ser vo on when power on"
ＳＹＳＴＥＭ＞ＰＡＲＡＭ＞ＯＴＨＥＲＳ
７．ＴＲＵＥ ｃｏｎｄｉｔｉｏｎ −１
８．Ｕｎｉｔ ｓｅｌｅｃｔ Ｎｏｒｍａｌ
９．Ｅｒｒｏｒ ｏｕｔｐｕｔ（ＤＯ ＆ ＳＯ） Ｏｆｆ
１０．ＭＯＶＥＩ／ＤＲＩＶＥＩ ｓｔａｒｔ ｐｏｓ． Ｋｅｅｐ
１１．Ｓｅｒｖｏ ｏｎ ｗｈｅｎ ｐｏｗｅｒ ｏｎ ＹＥＳ
ＹＥＳ ＮＯ
3) Press (YES) or
4) Press to quit the edit mode.
n
NOTE
• This parameter is supported by controllers of Ver. 9.17 onwards. On earlier
version controllers, the operation starts in the same way as in the case
where this parameter is set to "YES".
• This parameter is set to "YES" at the time of shipment.
When SAFE mode setting or serial I/O setting is enabled, the
controller starts with servo-off when the controller power is
turned on.
In other cases, the controller starts with servo-on when the
controller power is turned on.
(Compatibility mode for the RCX141/142 controllers)
The controller always starts with servo-off when the power is
turned on.
(Compatibility mode for the RCX143/144 controllers)
(NO) to enter the setting.
12. "SYSTEM" mode
Meaning
Ｖ９．2 ３
Chapter
4
4-191