5-2 Parameter Description

PRM51: Lead program number

This parameter sets the lead program number.

Default value: 0

n NOTE

The lead program is the program that has been selected as the execution program by the TPB or POPCOM. (See "9-4 Switching the Execution Program".)

The lead program can also be selected by executing a communication command "@SWI". It may also be switched when the program data is loaded into the controller from the memory card.

5

PARAMETERS

PRM52: Hold gain

Default value: Depends on the robot.

PRM53: Zone output selection

This parameter is used to select the output destination and output logic when the zone output function is enabled. The zone output is used to control the signal output when the robot's current position is within the specified range.

A maximum of 4 zone outputs are available by setting for PRM53. The output logic can also be changed.

This parameter functions are allocated in bit units.

Input range:

0 to 255

 

 

Default value:

0

 

 

 

 

Function allocation in bit units

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Bit

 

Function

 

Selected value

Addition value

 

 

0

Zone 0 output enable setting

 

0: Disabled

0

 

 

 

 

 

 

1: Enabled

1

 

 

1

Zone 1 output enable setting

 

0: Disabled

0

 

 

 

 

 

 

1: Enabled

2

 

 

2

Zone 2 output enable setting

 

0: Disabled

0

 

 

 

 

 

 

1: Enabled

4

 

 

3

Zone 3 output enable setting

 

0: Disabled

0

 

 

 

 

 

 

1: Enabled

8

 

 

4

Zone 0 output logic setting

 

0: Positive logic

0

 

 

1: Negative logic

16

 

 

 

 

 

 

 

 

5

Zone 1 output logic setting

 

0: Positive logic

0

 

 

1: Negative logic

32

 

 

 

 

 

 

 

 

6

Zone 2 output logic setting

 

0: Positive logic

0

 

 

1: Negative logic

64

 

 

 

 

 

 

 

 

7

Zone 3 output logic setting

 

0: Positive logic

0

 

 

1: Negative logic

128

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

8 to 15

Reserved for system use

 

 

0

 

 

 

 

 

 

 

 

Example: To set zone 1 output to positive logic and zone 2 output to negative logic while enabling zone 1 output and zone 2 output, make the following settings.

PRM53 should be set to "70" because of 0000000001000110 (binary)=70 (decimal).

Bit

15 to 8

7

6

5

4

3

2

1

0

PRM53

Selected value

0

0

1

0

0

0

1

1

0

 

Addition value

0

0

64

0

0

0

4

2

0

64+4+2=70

 

 

 

 

 

 

 

 

 

 

 

5-14

Page 72
Image 72
Yamaha SRCP manual PRM51 Lead program number, PRM52 Hold gain, PRM53 Zone output selection