Yamaha DRCX User Manual page 84

PRM18: Robot type number
This parameter shows the robot number currently used. (See "15-1-2 Robot number list".)
This is a read-only parameter. When changing the robot number or if the memory contents
are corrupted, perform parameter initialization. (See "10-1 Initialization".)
* When the robot setting is made for a Multi-Flip, this parameter value is set to 0 and the
robot type number for each axis is shown by PRM72 and PRM112.
PRM19: Controller version 1
This parameter reads out the version information (1) on the control software in the con-
troller.
This is a read-only parameter.
PRM20: System mode selection
This parameter specifies the system operation mode. When you want to use the DRCX
controller in operating specifications that differ from normal mode, for example, to make
it compatible with the conventional controllers, change this parameter as explained below.
This parameter functions are allocated in bit units.
Input range:
Default value: 16
Function allocation in bit units
Bit
General-purpose input definition for using
0
an I/O point movement command
READY signal sequence setting
1
END signal sequence setting when the
2
controller has started normally
Voltage check setting for system backup
3
battery
Absolute backup function setting
4
5 to 6 Reserved for system use
END output sequence setting at command
7
execution completion
8 to 15 Reserved for system use
Example: For conventional compatibility with I/O point movement command general-purpose inputs, and the END
sequence at normal controller startups, PRM20 should be set to "20" because of
0000000000010101(binary)=21(decimal)
Bit
Setting
Addition value
Bit 0: General-purpose input definition for using an I/O point movement
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0 to 255
Function
Normal mode (DI0 to DI11)
Conventional compatible mode (DI0 to DI9)
DRCA compatible output mode
SRCA compatible output mode
Normal mode (to be output)
Conventional compatible mode (not to be output)
Check
No check
Disable
Enable
ON at normal command completion
ON at command signal OFF at normal command completion
15 to 8 7 6 to 5
0 0 0
0 0 0
command
This selects a general-purpose input used for an I/O point movement command
(ABS-PT, INC-PT).
In normal mode, use DI0 to DI9 to specify the point number and DI10 to DI11 to
select the speed. All points (P0 to P999) can be specified with a movement com-
mand.
In conventional model compatible mode, use DI0 to DI7 to specify the point number,
and DI8 to DI9 to select the speed. Points P0 to P254 can be specified with a
movement command but points P255 to P999 cannot be selected.
5-2 Parameter Description
Selected operating mode
4 3 2 1
1 0 1 0
16 0 4 0
5
Setting Addition value
0 0
1 1
0 0
1 2
0 0
1 4
0 0
1
8
0 0
1 16
0 0
0 0
1 128
0 0
0 PRM20
1
1 16+4+1=21
9
5-