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Parameter
Parameter
name
Set the delay
HANDDLY
time of the GC/
GO command
and the moving
command.
*This parameter
is valid for
using the
MOVEMAS-
TER command
only.
Robot language
RLNG
setting
Display lan-
LNG
Note1)
guage
Extension of
PRGGBL
external vari-
able
Note1) The parameter is set up based on the order specifications before shipment.
Order to dealer when the instruction manual of the other language is necessity.
More, the caution seals that stuck on the robot arm and the controller are made based on the
language of the order specification. Use it carefully when selecting the other language.
No. of arrays
No. of characters
Integer 1
The delay time of hand open/close in MOVEMASTER command is the
time specified by GP command. (Default value is 0.3 sec.)
The delay time of hand open/close can be specified by this parameter.
Parameter value
-1
0
Value
Unit(msec)
The units of the delay time specified by GP command are 1 / 10 sec-
onds.
The units of the delay time specified with this parameter are 1 / 1000
seconds (=msec).
Integer 1
Select the robot language
2:MELFA-BASIC V
1:MELFA-BASIC IV
Character
Set up the display language.
string 1
"JPN":Japanese
"ENG":English
The following language is changed.
(1)The display LCD of teaching pendant.
(2) Personal computer support software.
*alarm message of the robot.
*Parameter explanation list.
(3)Alarm message that read from the robot with external communica-
tion. (Standard RS232C, Extended serial I/F, Ethernet I/F)
-
Sets "1" to this parameter, and turns on the controller power again, then
the capacity of each program external variable will double.
However, if a variable with the same name is being used as a user-
defined external variable, an error will occur when the power is turned
ON, and it is not possible to expand. It is necessary to correct the user
definition external variable.
Details explanation
Motorized hand
Pneumatic hand
When the status of
The delay time specified
by the GP instruction is
the hand changes,
stored in this parameter
the delay timer
when opening/closing the
specified by GP
hand, regardless of
command is taken.
whether or not the hand
status has changed.
No delay
No delay
When the status of the hand changes, the delay
timer specified with this parameter is taken.
5Functions set with parameters
Factory setting
-1
1
The "JPN" is
Japanese spec-
ification.
The "ENG" is
English specifi-
cation.
0
Command parameter 5-362
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