Yamaha SRCP User Manual page 67

Single-axis robot controller
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PRM32: Alarm number output
When an alarm is issued, this parameter selects whether the alarm number is to be output
as a general-purpose output. When this parameter is set to 1, the alarm number is output as
a 5-bit binary signal through DO0 to DO4.
Input range:
0 or 1
Meaning:
0: No output
1: Output
Default value: 0
Example of alarm Number - DO output
Alarm No.
Alarm Message
01
OVER LOAD
02
OVER CURRENT
03
OVER HEAT
04
POWER DOWN
:
:
:
:
16
ABNORMAL VOLTGAE
17
SYSTEM FAULT 2
18
FEEDBACK ERROR 3
19
SYSTEM FAULT 3
:
:
:
:
* For more details on the alarm No. and contents, refer to "13-2-2 Alarm message list".
PRM33: Operation at return-to-origin complete
Selects the operation to be executed simultaneously with completion of return-to-origin.
A signal can be output as a general-purpose output indicating that return-to-origin has
been completed or to reset the program.
Input range:
0 to 3
Meaning:
0: Nothing is executed
1: DO4 is turned on
2: Program reset is executed
3: DO4 turns on after program reset
Default value: 2
* When this parameter is set to 1 or 3, DO4 is not affected by program reset (in other
words, DO4 does not turn off even when the program is reset). If you want to turn off
DO4 after return-to-origin is complete, use the program command to execute DO 4,0 or
manually operate the general-purpose output by using the TPB.
(See "7-4 Manual Control of General-Purpose Output".)
DO4
DO3
DO2
DO1
DO0
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
ON
ON
OFF
OFF
ON
OFF
OFF
:
:
:
:
:
:
:
:
:
:
ON
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
ON
ON
OFF
OFF
ON
OFF
ON
OFF
OFF
ON
ON
:
:
:
:
:
:
:
:
:
:
5-2 Parameter Description
9
5-
5

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