Yamaha DRCX User Manual page 86

PRM22: Communication parameter setting
This sets communication parameters used for data transmission through RS-232C. For
more details, see "11-1 Communication Parameter Specifications".
Default value: 0
PRM23: Lead program number (Available with Ver. 18.50 or later)
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.
PRM24: Zone output selection (Available with Ver. 18.50 or later)
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 PRM24. The output logic can
also be changed.
This parameter functions are allocated in bit units.
Input range:
Default value: 0
Function allocation in bit units
Bit
8 to 15
Example: To set zone 1 output to positive logic and zone 2 output to negative logic while enabling
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0 to 255
Function
0 Zone 0 output enable setting
1 Zone 1 output enable setting
2 Zone 2 output enable setting
3 Zone 3 output enable setting
4 Zone 0 output logic setting
5 Zone 1 output logic setting
6 Zone 2 output logic setting
7 Zone 3 output logic setting
Reserved for system use
zone 1 output and zone 2 output, make the following settings.
PRM24 should be set to "70" because of 0000000001000110 (binary)=70 (decimal).
Bit 15 to 8 7
Selected value 0 0
0 0
Addition value
5-2 Parameter Description
Selected value Addition value
0: Disabled 0
1: Enabled 1
0: Disabled 0
1: Enabled
2
0: Disabled 0
1: Enabled 4
0: Disabled 0
1: Enabled 8
0: Positive logic 0
1: Negative logic 16
0: Positive logic 0
1: Negative logic 32
0: Positive logic 0
1: Negative logic 64
0: Positive logic 0
1: Negative logic 128
0
6 5 4 3 2 1
1 0 0 0 1 1
64 0 0 0 4 2
5
0 PRM24
0
0 64+4+2=70
11
5-