Yamaha SRCP manual PRM34 System mode selection, Bit 1 Ready signal sequence setting

5-2 Parameter Description

5

PARAMETERS

5-10

PRM34: System mode selection

This parameter specifies the system operation mode. When you want to use the SRCP series in operating specifications that differ from normal mode, change this parameter as explained below.

This parameter functions are allocated in bit units.

	Input range:	0 to 255
	Default value:	0
Function allocation in bit units
Bit	Function					Selected operating mode					Setting	Addition value
0	Reserved for system use										0	0
1	READY signal sequence setting				ON when emergency stop is canceled. (DRCA compatible)						0	0
					ON when servo is ON. (SRCA compatible)						1	2
2	END signal sequence setting when the				ON after controller has started normally.						0	0
	controller has started normally				OFF after controller has started normally.						1	4
3	Voltage check setting for system backup				Check						0	0
	battery				No check						1	8
4 to 5	Reserved for system use										0	0
6	Interlock function setting				Enable						0	0
					Disable						1	64
7	END output sequence setting at command				ON at normal command completion						0	0
	execution completion				ON at command signal OFF at normal command completion						1	128
8 to 15	Reserved for system use										0	0
Example: To turn off the END output sequence after the controller has started normally, and disable the
	interlock function:
	PRM34 should be set to "68" because of 0000000001000100 (binary)=68 (decimal)
	Bit	15 to 8	7	6	5 to 4	3	2	1	0	PRM34
	Setting	0	0	1	0	0	1	0	0
	Addition value	0	0	64	0	0	4	0	0	64+4=68

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 6: Interlock function setting

This selects whether to enable or disable the interlock function. The interlock func- tion is enabled by default. If the interlock function is disabled, use caution and be aware of the robot movement.