Yamaha RCX240 User Manual page 356

12. "SYSTEM" mode
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CAUTION
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Chapter 4 OPERATION
• when the return-to-origin and absolute reset of all robot axes are complete, the
return-to-origin complete outputs DO11 and SO11 are turned on.
• if the same port as that used for the individual axis return-to-origin which is
specified by the "Axes selection port number (DI & SI)" parameter is turned on
during program operation, the return-to-origin/absolute reset may be started. So,
do not use the "Axes selection port number (DI & SI)" parameter for a purpose
other than the return-to-origin/absolute reset.
• the return-to-origin or absolute reset of 2 or more axes cannot be performed at
the same time. Be sure to use this function for an individual axis.
If multiple axes are specified, relevant error appears.
• if any serial board, such as cc-link, etc. is not used (including a status that
"Board condition" is set at "Invalid"), the DI port is used for the "Axes selection
port number (DI & SI)" parameter and the DO port is used for "Done output port
number (DO & SO)" parameter.
An axis to be used for the return-to-origin or absolute reset is specified by the
specified DI port. After the return-to-origin or absolute reset has been complete,
the complete output of the specified DO port turns on.
• When a serial board, such as CC-Link, etc. is added and "Board condition" is set to
"VALID", the SI port is used for the "Axes selection port (DI & SI)" parameter, and the
DO and SO ports are used for the "Done output port (DO & SO)" parameter.
An axis to be used for the return-to-origin or absolute rest is specified by the
specified SI port.
After the return-to-origin or absolute reset has been complete, the complete
outputs of the specified DO and SO ports turn on.
• when the return-to-origin of each electric gripper axis is performed using this
function, set the "Include Gripper in Origin" parameter to "YES". If this parameter
is set to "NO", the return-to-origin of each gripper axis cannot be performed.