Yamaha DRCX User Manual page 85

5-2 Parameter Description
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Bit 1: READY signal sequence setting
This selects whether to set the READY signal sequence compatible with the DRCA
or SRCA controller.
In DRCA compatible mode, the READY signal turns on at the instant that emer-
gency stop is released. In the SRCA compatible mode the READY signal turns on
when the servo is turned on. (The READY signal will not turn on just by releasing
emergency stop.)
Bit 2: END signal sequence setting when the controller has started nor-
mally
This selects whether to turn on the END signal when the controller has started
normally.
In normal mode, the END signal turns on when the controller has started normally.
In conventional compatible mode, the END signal remains off even when the con-
troller has started normally.
Bit 3: Voltage check setting for system backup battery
This selects whether to check the system backup battery voltage when the control-
ler servo is turned on.
In such cases where you want to operate the robot immediately even when the
battery needs to be replaced, you can temporarily disable this voltage check.
(System backup batteries are located inside the controller and used to back up the
parameters and point data.)
Bit 4: Absolute backup function setting
This selects whether to enable or disable the absolute backup function.
Normally, this is set to "enable" and a battery for absolute backup is required. If set
to "disable", the controller can be operated without using an absolute backup bat-
tery.
When set to "enable", the robot position is maintained even after the power is turned
off. When set to "disable", however, the origin position will be incomplete each
time the power is turned off.
Bit 7: END output sequence setting at command execution completion
(supported by Ver. 18.74 and later versions):
This selects the END output sequence at dedicated command completion.
With the standard setting ("0"), the command's execution result is output to the
END output when the command is completed. When set to "1", the command's
execution result is output to the END output when the command is completed, but
only after the command signal turns off.
PRM21: Servo status output
This parameter selects whether to output the axis servo status as a general-purpose output.
When this parameter is set to 1, DO7 turns on when all axes are servo-on and turns off
when one axis is servo-off.
Input range: 0 or 1
Meaning: 0: Does not output the servo status.
1: Outputs the servo status.
Default value: 0
* When this parameter is set to 1, DO7 is not affected by program reset (in other words,
DO7 does not turn off even when the program is reset).