Omron YRC User Manual page 166

PROFIBUS station address ‹PBUSADD›
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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 ser vo when emergency stop ‹GEMGMD›
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This parameter sets the gripper servo status when the emergency stop button is pressed. When this parameter is
initialized, "1: ON" is set.
Include Gripper in Origin ‹GORGMD›
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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
7
Manual Holding of Gripper ‹GMHLMD›
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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.
0: INVALID
Gripper origin sequence ‹GORGORD›
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This parameter sets the order of return-to-origin for the gripper to decide the motor position. When this parameter is
initialized, "1234" is set, and each number is corresponding to the gripper numbers.
Return-to-origin operations of the grippers are performed from the left end of the return-to-origin order setting in order.
The grippers without setting perform return-to-origin simultaneously at last.
Gripper origin priority ‹GORGPRI›
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This parameter sets the timing of performing return-to-origin of the gripper. When this parameter is initialized, "0: AFTER"
is set.
1: BEFORE
7-30
Setting
0: OFF The remote command cannot be used.
The gripper servo is not turned off when the emergency button is pressed. Therefore, the gripper
1: ON
keeps to grip the workpiece.
Setting
The gripper is not added to the axes to be performed return-to-origin.
0: NO
* 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.
Setting
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.
Setting
0: AFTER Return-to-origin of the gripper is performed after all the robots return-to-origin.
Return-to-origin of the gripper is performed before all the robots return-to-origin.
Meaning
Meaning
Meaning
Meaning