Yamaha RCX40 User Manual page 231

n
NOTE
• When this parameter is valid
(enabled), return-to-origin will
always be incomplete each time
the controller power is turned on.
Absolute reset must therefore
always be performed.
• Enable this parameter if the
controller does not have an
absolute battery installed.
c
CAUTION
This parameter must be disabled
(invalid) if the robot has an axis using
the mark method for origin detection.
n
NOTE
Command functions using DI05 of the
STD.DIO connector utilize part of the
general-purpose input and output.
When you are utilizing a general-
purpose input and output, the value
may change so use caution when using
such commands.
6. Incremental Mode control /INCMOD
This parameter sets whether to have origin incomplete status every time power to this
controller is turned on. This is automatically set invalid when the parameters are
initialized.
[Procedure]
1) Select "6. Incremental Mode control" in "SYSTEM>PARAM>OTHERS" mode.
2) Press the (EDIT) key.
F 1
The function key menu changes.
Fig. 4-12-36 Setting "Incremental Mode control"
SYSTEM>PARAM>OTHER
2.Data display length
3.Parameter display unit
4.DO cond. on EMG
5.Watch on STD.DO DC24V
6.Incremental Mode control
INVALID VALID
3) Press the (INVALID) or
F 1
4) Press the key to quit the edit mode.
ESC
7. IO cmd (DI05) on STD.DIO/STDPRM
This parameter sets whether to enable or disable the command function that uses DI05
of the STD.DIO connector. This is automatically set invalid when the parameters are
initialized.
[Procedure]
1) Select "7. IO cmd (DI05) on STD.DIO" in "SYSTEM>PARAM>OTHERS" mode.
2) Press the (EDIT) key.
F 1
The function key menu changes.
Fig. 4-12-37
SYSTEM>PARAM>OTHER
3.Parameter display unit
4.DO cond. on EMG
5.Watch on STD.DO DC24V
6.Incremental Mode control
7.IO cmd (DI05) on STD.DIO
INVALID VALID
3) Press the (INVALID) or
F 1
4) Press the key to quit the edit mode.
ESC
12. "SYSTEM" mode
V8.01
6char
PULSE
HOLD
VALID
INVALID
(VALID) key.
F 2
V8.18
PULSE
HOLD
VALID
INVALID
VALID
(VALID) key.
F 2
4
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