Yamaha RCX142 User Manual page 236

12. "SYSTEM" mode
n
NOTE
4
• 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 (I/O
command execution trigger input) 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.
• For detailed information on I/O
commands, refer to the programming
manual.
174
4-
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>OTHERS
2.Data display length
3.Parameter display unit
4.DO cond. on EMG
5.Watch on STD.DIO 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
(I/O command execution trigger input) of the STD.DIO connector. This is automatically
set to "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>OTHERS
3.Parameter display unit
4.DO cond. on EMG
5.Watch on STD.DIO 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
V8.35
6char
PULSE
HOLD
VALID
INVALID
(VALID) key.
F 2
V8.35
PULSE
HOLD
VALID
INVALID
VALID
(VALID) key.
F 2