Yasnac XRC Parameter List: Do Not Submit This Electronic Data To The Customer

YASNAC XRC PARAMETER LIST
CONFIDENTIAL
Do not submit this electronic data to the customer.
THIS MATERIAL IS FOR STUDY PURPOSE ONLY.

YOU MUST READ THE MANUAL WHICH ENCLOSED
WITH A ROBOT.
Manual No. HC9401046
1
FD PARAMETER ------------------------------ 3
S1D PARAMETER ------------------------------ 6
S2D PARAMETER ------------------------------ 10
S2C PARAMETER ------------------------------ 12
S3C PARAMETER ------------------------------ 18
S4C PARAMETER ------------------------------ 25
RS PARAMETER ------------------------------ 29
CIO PARAMETER ------------------------------ 32
AP PARAMETER ------------------------------ 37
SE PARAMETER ------------------------------ 42
RCG PARAMETER ------------------------------ 43
2
FD PARAMETER
FD Byte Type (UCHAR)
FD Item Unit Remarks Initial

0: 1500 Steps(Standard)
0 Concurrent IO Extension 0
1: 3000 Steps
1 Relative Job 0: Disable, 1: Enable 0
2 External Reference Point 0: Disable, 1: Enable 0
3 Data Transmission 0: Disable, 1: Enable 0
4 Endless Rotation (Ext-Axis, T-Axis) 0: Disable, 1: Enable 0
5 0
0: Disable
6 Independent Motion 1: 3 Tasks 0
2: 6 Tasks
7 Coordinated Motion 0
8 for debug (MOTION) 0
9 0
10 Servo Diagnosis (Load, Error Pulse) 0: Disable, 1: Enable 0
0: Top of Buffer
11 ROTSY Communication Area 0
1: All Buffer
I/O Alarm/Message Detection Following register area is detected.
(bit) M060:d0-d15 Sys IO Alarm1-16 d0 :IO Alarm, d1 :IO
<X1.50> M061:d0-d7 Sys IO Alarm17-24 Message
M061:d8-d15 User IO Alarm1-8 0: Numeral Value (Standard)
12 0
M062:d0-d15 Sys IO Message1-16 (Specific Input Code Area)
M063:d0-d7 Syst IO Message17- 1: Bit Value
24 (Register Area)
M063:d8-d15 User IO Message1-8
0: Disable
13 Start Point Search 1: Slow Down and Stop 0
2: Stop Immediately
14 IO Message History Extension only when Extension CMOS is used 0: Disable, 1: Enable 0
15 Speed Limitation for European Safety 0: Disable, 1: Enable 0
16 Observer Status Display 0: Disable, 1: Enable 0
17 Condition Change during Test Run (for HONDA) 0: Disable, 1: Enable 0
18 2 Robots and 1 Station Coordinated Motion Control 0: Disable, 1: Enable 0
19 PMT 0: Disable, 1: Enable 0
20 Conveyer Synchronization 0: Disable, 1: Enable 0
21 (Servo Power Independent Control) Abolition <X2.00> 0
0: Normal
22 2 Robots and 1 Station Coordinated Motion Control Method 1: Controlled by Master 0
Robot Motion Time
23 Interrupt Job 0: Disable, 1: Enable 0
24 COM-ARC3<X2.20> 0: Disable, 1: Enable 0
25 Shared Control 0: Disable, 1: Enable 0
26 Working Posture Teaching 0: Disable, 1: Enable 0
27 Force Detection 0: Disable, 1: Enable 0
0: Disable, 1: ST Type, 2:
28 Turbo 0
VL Type
29 General Sensor 0
30 TCP 0
31 0
32 ME-Net Data Link 0
33 ME-Net Computer Link 0
d0: Joint Servo Float
34 Servo Float 0
d1: Linear Servo Float
35 Twin Drive 0
36 Press Synchronization 0
37 Hexagon Cutting ( Only for YAG Laser) 0
0: Contactor,
38 Servo On Group 0
1: Control Group
39 Speed Control Related Speed (General Sensor) 0: Disable, 1: Enable 0
40 Motor Gun 0: Disable, 1: Enable 0
41 Motor Gun Change 0: Disable, 1: Enable 0
42 Ethernet 0: Disable, 1: Enable 0
43 T-axis Speed Control 0: Disable, 1: Enable 0
44 Number Key Input Teaching Correction 0: Disable, 1: Enable 0
45 Form Cutting 0: Disable, 1: Enable 0
46 Collision Detection<X1.10> 0: Disable, 1: Enable 0
47 Arm Bending Compensation 0: Disable, 1: Enable 0
0: Disable, 1: A300
48 Aluminum Welding Power Source Communication<X2.40> 0
2: A200<X3.01>
49 0
50 Pause Weaving 0: Disable, 1: Enable 0
51 Muti Layer 0: Disable, 1: Enable 0
52 0
0: Disable, 1: Enable
53 Vision<X1.90> 0
2: HONDA Spec
3
FD PARAMETER

54 0
0: Enable (Change to
55 Safety Speed 250mm/s) 0
1: Disable
56 Circlar Weaving<X2.42> 0: Disable, 1: Enable 0
57 Sensorless ET-Handle (for Prototype)<X2.50> 0: Disable, 1: Enable 0
58 Automatic Speed Adjustment during Playback 0: Disable, 1: Enable 0
59 Reserved for COMATSU 0
75 Laser Tracking 0: Disable, 1: Enable 0
76 Motion Continuation Search 0: Disable, 1: Enable 0
77 0
78 0
79 0
80 0
81 0
82 0
83 0
84 0
85 0
86 0
87 0
88 0
89 0
90 0
91 0
92 0
93 0
94 0
95 0
96 0
97 for debug (SV) 0: Disable, 1: Enable 0
98 0
99 for debug (Message Check) 0: Disable, 1: Enable 0
100 0
101 0
102 0
103 0
104 0
105 0
106 0
107 0
108 0
109 0
110 0
111 0
112 0
113 0
114 0
115 0
116 0
117 0
118 0
119 0
120 0
121 0
122 0
123 0
124 0
125 0
126 0
127 0
128 0
129 0
130 0
131 0
132 0
133 0
134 0
135 0
136 0
4
FD PARAMETER

137 0
138 0
139 0
140 0
141 0
142 0
143 0
144 0
145 0
146 0
147 0
148 0
149 0
5
S1D PARAMETER
S1D Byte Type (UCHAR)
S1D Main Item Sub Item Unit Remarks Initial

0
0: Disable, 1: Enable
| Machine Code for Instruction -
(Bit Setting)
127
128
| Not Used 0
149
d0: Control Group 1
d1: Control Group 2
d2: Control Group 3
d3: Control Group 4
150 Control Group 1
d4: Control Group 5
d5: Control Group 6
d6: Control Group 7
d7: Control Group 8
151 Control Group 1 d0: Axis 1 63
Axis Construction
159 Axis 1 1
160 Axis 2 2
161 Axis 3 3
162 Axis 4 4
163 Axis 5 5
164 Axis 6 6
165 Axis 7 0
166 Axis 8 0
167 Axis 9 0
168 Axis 10 0
169 Axis 11 0
170 Axis 12 0
171 Axis 13 0
172 Axis Connction Table Axis 14 0
173 Axis 15 0
174 Axis 16 0
175 Axis 17 0
176 Axis 18 0
177 Axis 19 0
178 Axis 20 0
179 Axis 21 0
180 Axis 22 0
181 Axis 23 0
182 Axis 24 0
183 Axis 25 0
184 Axis 26 0
185 Axis 27 0
186 0: r1,s1,s2,s3,s4,s5,s6 0
1: r1,b1,s1,s2,s3,s4,s5,s6
2: r1,r2,s1,s2,s3,s4,s5,s6
3: r1,r2,b1,s1,s2,s3,s4,s5
4: r1,r2,b2,s1,s2,s3,s4,s5
5: r1,r2,b1,b2,s1,s2,s3,s4
6: r1,r2,r3,s1,s2,s3,s4,s5
7: r1,r2,r3,b1,s1,s2,s3,s4
Control Group Pattern 8: r1,r2,r3,b2,s1,s2,s3,s4
9: r1,r2,r3,b3,s1,s2,s3,s4
10: r1,r2,r3,b1,b2,s1,s2,s3
11: r1,r2,r3,b1,b3,s1,s2,s3
12: r1,r2,r3,b2,b3,s1,s2,s3
13: r1,r2,r3,b1,b2,b3,s1,s2
Note:
r: robot axis
b: base axis
s: station axis
187 Robot Axis (P Variable) block 1 block = 64 points 2
188 Position Variable Area Station Axis (BP Variable) block 1 block = 64 points 2
189 Base Axis (EX Variable) block 1 block = 64 points 2
190 Byte Type (B Variable) block 1 block = 4 points 25
191 Global Variable Area Integer Type (I Variable) block 1 block = 4 points 25
192 (Max 256 variables) Double Integer Type (D block 1 block = 4 points 25
193 Real Type (R Variable) block 1 block = 4 points 25
6
S1D PARAMETER

194 0
0: Standard
195 Arc Welding Application Type 0
1: Enhanced
196 Control Group 1 d0: Axis 1 0: Low, 1: High 56
199 Teach Mode Segment Check Control Group 4 d3: Axis 4 0: Low, 1: High 0
200 Level Control Group 5 d4: Axis 5 0: Low, 1: High 0
0: Check at robot stop
204 Brake Slip Check 0
1: Check at any condition
205 Servo Monitor Debug Mode 0: Disable, 1: Enable 0
206 0
207 0
208 0
209 0
210 0
211 0
212 0
213 Servo Ready Check Delay Time 0.1sec 15
214 Brake Release Timing 0.1sec 5
215 Servo Contactor ON Delay Time 0.1sec 0
216 0
217 Brake Voltage Drop Timing 0.1sec 0: No drop 0
218 Tool Gravity Center and Weight 0: No Use, 1: Use 0
219 Tool Calibration Points 5: 5 points, 7: 7 points 5
220 SVMXOK Delay Time 0.01sec 6
221 Tool Calibration Deflection Threshold 0.001mm 10
0: Slave
222 Coordinated Motion Interpolation 1: Master 2
2: Auto (1or2)
223 1st Language 0: Japanese *
224 2nd Language 1: English *
2: German
3: Swedish
Language Set 4: French
5: Finish
6: Italian
7: Spanish
8: Hangul
9: Chinese
0: Up Compatible Mode
225 Arc Retry Mode 1
1: New Execution Mode
0: Standard
226 CIO Ladder Type 0
1: European
227 Servo Gun Control Group 0
228 Servo Hand Control Group 0
0: Write Through
229 User Variable Access Control (Instruction Advanced Control)<X3.00> 1
1: Write Back
1: Segment Data
230 for MOTION Debug 0
0: Split Check Mode
233 Instruction Quick Execution<X3.00> 1
Follow with FD013
234 ASRCH Operation Mode(General Sensor) 0
( 0: Same as FD013=3 )
235 Robot Calibration Points 3: 3 points, 5: 5 points 5
When S1D238 = 1 and
S1D236 = 20 -> 1 Time
Slice execution for
236 ADV_TASK Time Slice(Multiple to Task Time Slice (S1D238)) Multiple ADV_TASK 20 (1*20) times 20
When S1D238=2 -> 2 Time
Slice execution for
ADV TASK 40(2*20) times
237 OS Real Time Clock Only XCP 5
238 Task Time Slice Only MOTION 1
Segment
239 Motion Conversion Waiting time 0: 255 times 0
Clock
7
S1D PARAMETER

240 Sensor Function Setting SL1 00H: COM-ARC 255
241 Upper 4bits: Board Setting SL2 01H: Force Sensor (Not 255
242 Lower 4bits: Function Setting SL3 02H: Shared Control 255
243 SL4 03H: General Sensor 255
04H: ET Handle
10H: Conveyor
11H: Press Synchronization
20H: MOTOEYE(Not Used)
30H: CO2 Laser(Not Used)
FFH: No Select(Not Used)
244 Sensor Board Use Robot 1 d0: SL1 0
245 Robot 2 d1: SL2 0
246 Robot 3 d2: SL3 0
d3: SL4
247 Application Selection 1st Application 0: Arc 0
248 2st Application 1: Handling 255
249 3st Application 2: Spot 255
3: Sealing
4: Painting
5: Laser Cutting (YAG)
6: Palletizing
7: General Purpose
8: CO2 Laser
9: Motor Gun
10: Leaser welding <X2.50>
255: No Select(Not Used)
250 Application Use Robot 1 d0: 1st Application 1

251 Robot 2 d1: 2nd Application 0
252 Robot 3 d2: 3rd Application 0
253 0
254 0
255 0
256 CIO Ladder Scan Time (Reserved) 0
257 0: Arc 0
1: Handling
2: Jigless
3: Spot
4: General Purpose
5: Arc+Arc
6: CO2 Laser
CIO Ladder Selection 7: Spot+Spot
8: Painting
10: Laser Cutting
11: Motor Gun
12: Gene+Gene<X2.10>
13: Laser Welding<X2.50>
14: Arc+Arc+Arc<X3.10>
255: No Select
SV Unit 1pcs : 10ms
SV Unit 2pcs : 18ms
SV Unit 3pcs : 30ms
258 Segment Clock msec 10
Allowable Range:
10<=S1D258<=34
(4ms units; 10, 14,,,,34)
1: 1 point, 2: 2 points
259 Advanced Calculation at Refreshing: Abolition<X3.00> 4
3: 3 points, 4: 4 points
260 0: Arc 0
1: Handling
2: Jigless
3: Spot
4: General Purpose
5: Arc+Arc
6: CO2 Laser
Programing Pendant Application 7: Spot+Spot
8: Painting
10: Laser Cutting
11: Motor Gun
12: Gene+Gene<X2.10>
13: Laser Welding<X2.50>
14: Arc+Arc+Arc<X3.10>
255: No Select
8
S1D PARAMETER

261 Axis 1 1
262 Axis 2 1
263 Axis 3 1
264 Axis 4 1
265 Axis 5 1
266 Axis 6 1
267 Axis 7 1: SV#1 TU1 0
268 Axis 8 0
2: SV#1 TU2
269 Axis 9 0
270 Axis 10 3: SV#2 TU1 0
271 Axis 11 4: SV#2 TU2 0
272 Axis 12 5: SV#3 TU1 0
273 Axis 13 6: SV#3 TU2 0
274 Physical TU Table Axis 14 0
275 Axis 15 7: SV#4 TU1 0
276 Axis 16 8: SV#4 TU2 0
277 Axis 17 9: SV#5 TU1 0
278 Axis 18 10: SV#5 TU2 0
279 Axis 19 11: SV#6 TU1 0
280 Axis 20 0
281 Axis 21 12: SV#6 TU2 0
282 Axis 22 0
283 Axis 23 0
284 Axis 24 0
285 Axis 25 0
286 Axis 26 0
287 Axis 27 0
d0: SV#1 0: None, 1: Exist
European Safety
Speed Watcher Board (XFC01) d2: SV#3 0: None, 1: Exist
288 Specification 0
(X1.30) d3: SV#4 0: None, 1: Exist
(Bit Setting)
d0:SV#1 0:Disable,1:Enable
289 Servo CPU Dummy 0
290 Coasting Amount Calculation for Cursor Advanced Control 0: Disable, 1: Enable 0
291 Servo Gain Fixed Control Group Bit Designation 0
Convertion Clock at Refresh Process<X3.00> segment
292 15
(Instruction Advanced Control) clock count
293 0
294 0
295 0
296 0
297 0
298 0
299 0
9
S2D PARAMETER
S2D 4 Byte Type (LONG)
S2D Main Item Sub Item Unit Remarks Initial Value

0 0
1 0
2 0
3 0
4 0
5 0
6 0
7 0
8 0
9 0
10 0
11 0
12 0
13 0
14 0
15 0
16 0
17 0
18 0
19 0
20 0
21 0
22 0
23 0
24 0
25 0
26 0
27 0
28 0
29 0
30 0
31 0
32 0
33 APMOV Delay Time seg clock 0
34 APMOV, APTRKON Speed Limit Change 0: Disable, 1: Enable 0
35 XYZ Current Data Check Limit XYZ 0.001mm 0
36 (for FWD/BWD motion) Angle 0.01deg 0
37 Cooling Fan Stop Allowable Time sec 600
38 0
39 0
40 0
41 0
42 0
43 0
44 0
45 0
46 0
47 0
48 0
49 0
50 0
51 0
52 0
53 0
54 0
55 0
56 0
57 0
58 0
59 0
60 0
61 0
62 0
63 0
64 0
65 0
66 0
67 0
68 0
69 0
70 0
71 0
72 0
73 0
74 0
75 0
76 0
77 0
78 0
10
S2D PARAMETER
S2D Main Item Sub Item Unit Remarks Initial Value

79 0
11
S2C PARAMETER
S2C Byte Type (UCHAR)
S2C Main Item Sub Item Unit Remarks Initial Value

0 Option Board Setting 0
d0: Robot1
1 Cube Interference 0: No Check, 1: Check (Bit Setting) d1: Robot2 0
d2: Robot3
d0: Robot1
2 S-Axis Interference 0: No Check, 1: Check (Bit Setting) d1: Robot2 0
d2: Robot3
3 Signal 1 0
4 Signal 2 0
5 Signal 3 0
6 Signal 4 0
7 Signal 5 0
8 Signal 6 0: None 0
9 Signal 7 1: Robot1 0
12 Signal 10 4: Base1 0
13 Signal 11 5: Base2 0
14 Cube/S-Axis Interference Signal Signal 12 6: Base3 0
15 Signal 13 7: Station1 0
19 Signal 17 0
11: Station5
20 Signal 18 0
12: Station6
21 Signal 19 0
22 Signal 20 0
23 Signal 21 0
24 Signal 22 0
25 Signal 23 0
26 Signal 24 0
27 Cube/S-Axis Interference Frame Type 0
28 Signal1 Use Frame No. 0
45 Cube/S-Axis Interference Frame Type Frame Type 0
46 Signal10 Use Frame No. 0: Pulse (S-Axis 0
47 Cube/S-Axis Interference Frame Type Interference) 0
48 Signal11 Use Frame No. 1: Base 0
50 Frame No. 2: Robot 0
Signal12 Use
51 Cube/S-Axis Interference Frame Type 3: User 0
53 Cube/S-Axis Interference Frame Type Frame No. 0
54 Signal14 Use Frame No. (If Frame Type is set to 3, 0
55 Cube/S-Axis Interference Frame Type Frame No. has to be 0
Cube/S-Axis Interference specified.)
57 Frame Type 0
12
S2C PARAMETER

0: Operator Mode
75 Security Mode at Power On 1: Editor Mode 1
2: Manager Mode
76 Rect/Cyl Select 0: Cylinder, 1: Rectangular 1
0: Tool & User Coordination
Changing Enable
1: Tool Coordination
Changing Inhibit
77 Coordination Change (at Jog Operation) 0
2: User Coordination
Changing Inhibit
3: Tool & User Coordination
Changing Inhibit
78 FWD Operation 0: Each Line, 1: Each Step 0
0: FWD+INTERLOCK key
79 Instruction Execution at FWD 1: Only FWD key 0
2: No Execution
0: Change (Joint
80 Motion Coordination Changing at Job Changing 0
Coordination), 1: Keep
81 Robot Posture Control at Jog Operation 0: Enable, 1: Disable 0
82 Tcp Type at User Coordinates 0:Robot Tcp,1:External Tcp 0
83 Job Step Modification (Only for Edit-Lock Job) 0: Enable, 1: Disable 1
84 Manual Speed Keep at Changing Coordination 0: Disable, 1: Enable 0
0: Single (Cursor does not
move)
85 Speed Modification 0
1: Continuously (Cursor
moves to next automatically.)
0: Before Next Step
86 Instruction Insert Position 0
1: Next to Cursor
87 Master Job Change 0: Enable, 1: Disable 0
88 Key Operation at Check Run and Machine Lock 0: Enable, 1: Disable 0
89 Reserved Job Change 0: Enable, 1: Disable 0
90 Master Job / Sub Master Job Call at Play Mode 0: Enable, 1: Disable 0
0: Subset
91 Instruction Level 1: Standard 0
2: Expansion
92 +MOV Speed Input 0: Disable, 1: Enable 0
d0 +MOVJ (1: Enable)
d1: +MOVL (1: Enable)
93 +MOV Motion Type Input 2
d2: +MOVC (1: Enable)
d3: +MOVS (1: Enable)
94 Instruction Leaning Function 0: Disable, 1: Enable 1
0: Last Line at Power Off
95 Job Line at Control Power On 0
1: Topt of Master Job
0: Name, 1: Date,
96 Job List Sorting at Job Selecting 2
2: Registered
0: Soft Key Operation
97 Initial Speed After Editing 0
1: Slow Start
98 Step Execution at Playback 0:1 line Each,1:1 Step Each 0
99 External Start 0: Enable, 1: Disable 0
100 P.PANEL Start 0: Enable, 1: Disable 0
0: mm/sec
1: cm/min
101 Speed Input Unit 1
2: inch/min
3: mm/min
13
S2C PARAMETER

102 Reserved Job Start 0: Enable, 1: Disable 1
103 0
104 Job Selection at Remote/Play Mode<X0.57> 0: Enable, 1: Disable 0
105 External Mode Change 0: Enable, 1: Disable 0
106 P.PANEL Mode Change 0: Enable, 1: Disable 0
107 External Cycle Change 0: Enable, 1: Disable 0
108 PP Cycle Change 0: Enable, 1: Disable 0
109 Servo On Operation d0: External, d1: P.PANEL 0
d0: P.PANEL Servo On
d1: PP Servo On
110 P.PANEL Operation at Remote Mode d2: Mode Change, 0
d3: Master Job Call
d5: Start
111 Independent Motion FWD/BWD/TEST Operation 0: 1Job, 1: All Jobs 0
112 Independent Motion Sub Task Call 0: Master Job, 1: Start Job 0
d0:
d1:
113 Safety Specification 0
d2:
d3: Manual Full Speed
114 Tool Change Interlock at Recording Position 0: Disable, 1: Enable 0
Output Relay Status at Control Power On 0: Reset to Power Off Status
115 0
1: Initial ( All are Off )
116 0
117 General Input Group Parity (IG#01 to IG#08) (Bit) 0
118 (IG#09 to IG#16) (Bit) 0
119 Check (8bits) (IG#17 to IG#24) (Bit) 0: Disable 0
120 Reserved 1: Enable 0
121 (General Input Word Group) 0
122 General Output Group Parity (OG#01 to OG#08) (Bit) 0
123 (OG#09 to OG#16) (Bit) 0
124 Check (8bits) (OG#17 to OG#24) (Bit) 0: Disable 0
125 Reserved 1: Enable 0
126 (General Output Word Group) 0
127 General Input Group Data Set (IG#01 to IG#08) (Bit) 0
128 (IG#09 to IG#16) (Bit) 0
(8bits) 0: Binary Data
129 (IG#17 to IG#24) (Bit) 0
130 Reserved 1: BCD Data 0
131 (General Input Word Group) 0
132 General Output Group Data Set (OG#01 to OG#08) (Bit) 0
133 (OG#09 to OG#16) (Bit) 0
(8bits) 0: Binary Data
134 (OG#17 to OG#24) (Bit) 0
135 Reserved 1: BCD Data 0
136 (General Output Word Group) 0
137 Output No. at BRWAIT Execution (Arm Non-drop Function) 0
138 Input No.for Brake On (Arm Non-drop Function) 0
0:Step, 1:1Cycle, 2:Auto,
139 Remote Initial Cycle 1
3:Keep
140 Local Initial Cycle 1
3:Keep
0: No Output
141 Output No. for Abso Dada Range Error 0
(1 to 192)
142 0
143 Output Signal Initialyzing at (d0: OG#01 to d7: OG#08) 0
144 (d0: OG#09 to d7: OG#16) 0: Disable, 1: Enable 0
145 Mode Changing (d0: OG#17 to d7: OG#24) 0
146 Axis Block General Input No. R1(Including Base Axis) 0: No Use 0
147 R2(Including Base Axis) 0
148 R3(Including Base Axis) 0
149 Station 1 0
150 Station 2 0
151 Station 3 0
152 Station 4 0
153 Station 5 0
154 Station 6 0
155 0
156 0
157 0
14
S2C PARAMETER

158 Playback Cycle at Power On 1
3:Keep
159 Teach Initial Cycle 1
3:Keep
160 Play Initial Cycle 1
3:Keep
161 Alarm Code Output Data Type 0: Binary, 1: BCD 0
0: Position Check
162 Start Condition After Abso Range Error 0
1: Slow Start
163 0
164 0
165 0
166 Control Group Changing (Teaching Point Correction) 0: Disable, 1: Enable<X1.50> 0
Cooling Fan Alarm Detetion 0: No Detection
Cooling Fan Alarm1,2,3
167 Display 1: Only Message Display 0
Common
<X1.80> 2: Message/Alarm Display
d0:SV#1-TU1, d1:SV#1-TU2
Bit Setting
Cooling Fan Alarm1 Detection d2:SV#2-TU1, d3:SV#2-TU2
168 0: Normal Open(or No Use) 0
Motion <X1.80> d4:SV#3-TU1, d5:SV#3-TU2
1: Normal Close
Bit Setting
1: Normal Close
Bit Setting
1: Normal Close
Bit Setting
1: Normal Close
Bit Setting
1: Normal Close
Bit Setting
1: Normal Close
174 Reserved for Cooling Fan Alarm 0
180 0
181 0
182 0
183 0
184 0
185 0
186 0
187 0
188 0
189 0
190 0
191 0
192 0
193 0
194 0
195 0
196 0
197 0
198 0
199 0
200 0
201 0
202 0
203 0
204 0
205 0
206 0
207 0
208 0
209 0
210 0
211 0
15
S2C PARAMETER

212 0
213 Operating Relay No Setting 1 0
214 Setting 2 0
215 Setting 3 0
216 Setting 4 0
217 Setting 5 0
218 Setting 6 0
219 Setting 7 0
220 Setting 8 Logic Output No. 0
221 Setting 9 (1 to 192) 0
222 Setting 10 0
223 Setting 11 0
224 Setting 12 0
225 Setting 13 0
226 Setting 14 0
227 Setting 15 0
228 Setting 16 0
229 Relay Operating Method Setting 1 0
230 Setting 2 0
231 Setting 3 0
232 Setting 4 0
233 Setting 5 0
234 Setting 6 0
235 Setting 7 0: ON Key -> ON, OFF Key - 0
236 Setting 8 > OFF 0
237 Setting 9 0
238 Setting 10 1: ON key -> ON/OFF 0
239 Setting 11 0
240 Setting 12 0
241 Setting 13 0
242 Setting 14 0
243 Setting 15 0
244 Setting 16 0
245 Reset Operation Control Power On Time 0: Disable, 1: Enable 0
246 Servo Power On Time 0
247 Playback Time 0
248 Working Time 1
249 Moving Time 1
0: Master-Tool Coordinates
250 Slave Robot Posture Control at Station Twin Coordination System 0
1: World Coordinates
0: Master-Tool Coordinates
251 Posture Control at Multi Job Mode 0
1: World Coordinates
0: Move to Next Step
1: Move to Current Step after
Moving to Deviated Position
252 Motion after E-STOP 0
2: Stop after Moving to
Deviated Position and Move
to Current Step by Restarting
0: Move to Next Step
1: Move to Current Step after
Moving to Deviated Position
253 Motion after Jog Operation 0
2: Stop after Moving to
Deviated Position and Move
to Current Step by Restarting
0: Feedback Position
254 Deviated Position Calculation 0
1: Current Position
0: Posture Uniformity
255 Circular Motion Posture Control 0
1: Posture Rotating
0: SLU Axes
256 Weaving Axes 0
1: RBT Axes
257 Between Robots Interference Robot1-Robot2 0: Disable, 1: Enable 0
258 Robot1-Robot3 0
259 Check Robot2-Robot3 0
0: Previous Step,
260 Relative Job Conversion Method 1: Robot Form, 0
2: Previous Step2(New)
261 Tool No. Switching 0: Disable, 1: Enable 0
0: XYZ Position
262 Tool Calibration Method <X1.30> 1: Posture 0
2: XYZ and Posture
263 Position Teaching Buzzer 0: Enable, 1: Disable 0
264 Twin Coordinated Job Interlocking 0: Disable, 1: Enable 0
0: Disable
265 Averaging Switching at ARCON<X2.11> 0
1: Enable(0msec)
16
S2C PARAMETER

d0: 0: Base Coodinates, 1:
Torch Jog Coordinates
266 Torch Jog Motion<X2.40> 0
d1: 0: With Rz Motion, 1:
Without Rz Motion
267 Playback Motion Continuation (from Hold Position)<X2.50> 0: Disable, 1: Enable 0
268 0
269 0
270 0
271 0
272 0
273 0
274 0
275 0
276 0
277 0
278 0
279 0
280 0
281 0
282 0
283 0
284 0
285 0
286 0
287 0
288 0
289 0
290 0
291 0
292 0
293 0
294 0
295 0
296 0
297 0
298 0
299 0
300 0
301 0
302 0
303 0
304 0
305 0
306 0
307 0
308 0
309 0
310 0
311 0
312 0
313 0
|
400 Weaving Frequency Change (WVADJ, SWVADJ: for KOMATSU 0: Disable, 1: Enable 0
|
499 0
17
S3C PARAMETER
S3C 4 Byte Type (LONG)

0 X 0
1 Cube Soft Limit 1 1st Position(+) Y 0
2 (Robot1 TCP on Base Z 0.001mm 0
3 X 0
4 Coordinates) 2nd Position(-) Y 0
5 Z 0
6 X 0
9 X 0
11 Z 0
12 X 0
15 X 0
17 Z 0
18 S-Axis Interference Robot1 + Direction Pulse 0
19 - Direction 0
21 - Direction 0
23 - Direction 0
24 X Axis1 0
25 Y Axis2 0
26 Z Axis3 S2C027=0: Axis Pulse [Pulse] 0
27 1st Position(+)
- Axis4 0
28 - Axis5 S2C027=1, 2, or 3: XYZ 0
29 - Axis6 [0.001mm] 0
30 - Axis7 0
31 Cube Interference 1
- Axis8 0
32 X Axis1 0
33 Y Axis2 0
35 2nd Position(-)
- Axis4 0
36 - Axis5 S2C027=1, 2, or 3: XYZ 0
37 - Axis6 [0.001mm] 0
38 - Axis7 0
39 - Axis8 0
40 X Axis1 0
41 Y Axis2 0
43 1st Position(+)
- Axis4 0
44 - Axis5 S2C029=1, 2, or 3: XYZ 0
45 - Axis6 [0.001mm] 0
46 - Axis7 0
- Axis8 0
48 X Axis1 0
49 Y Axis2 0
51 2nd Position(-)
- Axis4 0
52 - Axis5 S2C029=1, 2, or 3: XYZ 0
53 - Axis6 [0.001mm] 0
54 - Axis7 0
55 - Axis8 0
56 X Axis1 0
57 Y Axis2 0
59 1st Position(+)
- Axis4 0
60 - Axis5 S2C031=1, 2, or 3: XYZ 0
61 - Axis6 [0.001mm] 0
62 - Axis7 0
- Axis8 0
64 X Axis1 0
65 Y Axis2 0
67 2nd Position(-)
- Axis4 0
68 - Axis5 S2C031=1, 2, or 3: XYZ 0
69 - Axis6 [0.001mm] 0
70 - Axis7 0
71 - Axis8 0
18
S3C PARAMETER

72 X Axis1 0
73 Y Axis2 0
75 1st Position(+)
- Axis4 0
76 - Axis5 S2C033=1, 2, or 3: XYZ 0
77 - Axis6 [0.001mm] 0
78 - Axis7 0
- Axis8 0
80 X Axis1 0
81 Y Axis2 0
83 2nd Position(-)
- Axis4 0
84 - Axis5 S2C033=1, 2, or 3: XYZ 0
85 - Axis6 [0.001mm] 0
86 - Axis7 0
87 - Axis8 0
88 X Axis1 0
89 Y Axis2 0
91 1st Position(+)
- Axis4 0
92 - Axis5 S2C035=1, 2, or 3: XYZ 0
93 - Axis6 [0.001mm] 0
94 - Axis7 0
- Axis8 0
96 X Axis1 0
97 Y Axis2 0
99 2nd Position(-)
- Axis4 0
100 - Axis5 S2C035=1, 2, or 3: XYZ 0
101 - Axis6 [0.001mm] 0
102 - Axis7 0
103 - Axis8 0
104 X Axis1 0
105 Y Axis2 0
107 1st Position(+)
- Axis4 0
108 - Axis5 S2C037=1, 2, or 3: XYZ 0
109 - Axis6 [0.001mm] 0
110 - Axis7 0
- Axis8 0
112 X Axis1 0
113 Y Axis2 0
115 2nd Position(-)
- Axis4 0
116 - Axis5 S2C037=1, 2, or 3: XYZ 0
117 - Axis6 [0.001mm] 0
118 - Axis7 0
119 - Axis8 0
120 X Axis1 0
121 Y Axis2 0
123 1st Position(+)
- Axis4 0
124 - Axis5 S2C039=1, 2, or 3: XYZ 0
125 - Axis6 [0.001mm] 0
126 - Axis7 0
- Axis8 0
128 X Axis1 0
129 Y Axis2 0
131 2nd Position(-)
- Axis4 0
132 - Axis5 S2C039=1, 2, or 3: XYZ 0
133 - Axis6 [0.001mm] 0
134 - Axis7 0
135 - Axis8 0
19
S3C PARAMETER

136 X Axis1 0
137 Y Axis2 0
139 1st Position(+)
- Axis4 0
140 - Axis5 S2C041=1, 2, or 3: XYZ 0
141 - Axis6 [0.001mm] 0
142 - Axis7 0
- Axis8 0
144 X Axis1 0
145 Y Axis2 0
147 2nd Position(-)
- Axis4 0
148 - Axis5 S2C041=1, 2, or 3: XYZ 0
149 - Axis6 [0.001mm] 0
150 - Axis7 0
151 - Axis8 0
152 X Axis1 0
153 Y Axis2 0
155 1st Position(+)
- Axis4 0
156 - Axis5 S2C043=1, 2, or 3: XYZ 0
157 - Axis6 [0.001mm] 0
158 - Axis7 0
- Axis8 0
160 X Axis1 0
161 Y Axis2 0
163 2nd Position(-)
- Axis4 0
164 - Axis5 S2C043=1, 2, or 3: XYZ 0
165 - Axis6 [0.001mm] 0
166 - Axis7 0
167 - Axis8 0
168 X Axis1 0
169 Y Axis2 0
171 1st Position(+)
- Axis4 0
172 - Axis5 S2C045=1, 2, or 3: XYZ 0
173 - Axis6 [0.001mm] 0
174 - Axis7 0
- Axis8 0
176 X Axis1 0
177 Y Axis2 0
179 2nd Position(-)
- Axis4 0
180 - Axis5 S2C045=1, 2, or 3: XYZ 0
181 - Axis6 [0.001mm] 0
182 - Axis7 0
183 - Axis8 0
184 X Axis1 0
185 Y Axis2 0
187 1st Position(+)
- Axis4 0
188 - Axis5 S2C047=1, 2, or 3: XYZ 0
189 - Axis6 [0.001mm] 0
190 - Axis7 0
- Axis8 0
192 X Axis1 0
193 Y Axis2 0
195 2nd Position(-)
- Axis4 0
196 - Axis5 S2C047=1, 2, or 3: XYZ 0
197 - Axis6 [0.001mm] 0
198 - Axis7 0
199 - Axis8 0
20
S3C PARAMETER

200 X Axis1 0
201 Y Axis2 0
203 1st Position(+)
- Axis4 0
204 - Axis5 S2C049=1, 2, or 3: XYZ 0
205 - Axis6 [0.001mm] 0
206 - Axis7 0
- Axis8 0
208 X Axis1 0
209 Y Axis2 0
211 2nd Position(-)
- Axis4 0
212 - Axis5 S2C049=1, 2, or 3: XYZ 0
213 - Axis6 [0.001mm] 0
214 - Axis7 0
215 - Axis8 0
216 X Axis1 0
217 Y Axis2 0
219 1st Position(+)
- Axis4 0
220 - Axis5 S2C051=1, 2, or 3: XYZ 0
221 - Axis6 [0.001mm] 0
222 - Axis7 0
- Axis8 0
224 X Axis1 0
225 Y Axis2 0
227 2nd Position(-)
- Axis4 0
228 - Axis5 S2C051=1, 2, or 3: XYZ 0
229 - Axis6 [0.001mm] 0
230 - Axis7 0
231 - Axis8 0
232 X Axis1 0
233 Y Axis2 0
235 1st Position(+)
- Axis4 0
236 - Axis5 S2C053=1, 2, or 3: XYZ 0
237 - Axis6 [0.001mm] 0
238 - Axis7 0
- Axis8 0
240 X Axis1 0
241 Y Axis2 0
243 2nd Position(-)
- Axis4 0
244 - Axis5 S2C053=1, 2, or 3: XYZ 0
245 - Axis6 [0.001mm] 0
246 - Axis7 0
247 - Axis8 0
248 X Axis1 0
249 Y Axis2 0
251 1st Position(+)
- Axis4 0
252 - Axis5 S2C055=1, 2, or 3: XYZ 0
253 - Axis6 [0.001mm] 0
254 - Axis7 0
- Axis8 0
256 X Axis1 0
257 Y Axis2 0
259 2nd Position(-)
- Axis4 0
260 - Axis5 S2C055=1, 2, or 3: XYZ 0
261 - Axis6 [0.001mm] 0
262 - Axis7 0
263 - Axis8 0
21
S3C PARAMETER

264 X Axis1 0
265 Y Axis2 0
267 1st Position(+)
- Axis4 0
268 - Axis5 S2C057=1, 2, or 3: XYZ 0
269 - Axis6 [0.001mm] 0
270 - Axis7 0
- Axis8 0
272 X Axis1 0
273 Y Axis2 0
275 2nd Position(-)
- Axis4 0
276 - Axis5 S2C057=1, 2, or 3: XYZ 0
277 - Axis6 [0.001mm] 0
278 - Axis7 0
279 - Axis8 0
280 X Axis1 0
281 Y Axis2 0
283 1st Position(+)
- Axis4 0
284 - Axis5 S2C059=1, 2, or 3: XYZ 0
285 - Axis6 [0.001mm] 0
286 - Axis7 0
- Axis8 0
288 X Axis1 0
289 Y Axis2 0
291 2nd Position(-)
- Axis4 0
292 - Axis5 S2C059=1, 2, or 3: XYZ 0
293 - Axis6 [0.001mm] 0
294 - Axis7 0
295 - Axis8 0
296 X Axis1 0
297 Y Axis2 0
299 1st Position(+)
- Axis4 0
300 - Axis5 S2C061=1, 2, or 3: XYZ 0
301 - Axis6 [0.001mm] 0
302 - Axis7 0
- Axis8 0
304 X Axis1 0
305 Y Axis2 0
307 2nd Position(-)
- Axis4 0
308 - Axis5 S2C061=1, 2, or 3: XYZ 0
309 - Axis6 [0.001mm] 0
310 - Axis7 0
311 - Axis8 0
312 X Axis1 0
313 Y Axis2 0
315 1st Position(+)
- Axis4 0
316 - Axis5 S2C063=1, 2, or 3: XYZ 0
317 - Axis6 [0.001mm] 0
318 - Axis7 0
- Axis8 0
320 X Axis1 0
321 Y Axis2 0
323 2nd Position(-)
- Axis4 0
324 - Axis5 S2C063=1, 2, or 3: XYZ 0
325 - Axis6 [0.001mm] 0
326 - Axis7 0
327 - Axis8 0
22
S3C PARAMETER

328 X Axis1 0
329 Y Axis2 0
331 1st Position(+)
- Axis4 0
332 - Axis5 S2C065=1, 2, or 3: XYZ 0
333 - Axis6 [0.001mm] 0
334 - Axis7 0
- Axis8 0
336 X Axis1 0
337 Y Axis2 0
339 2nd Position(-)
- Axis4 0
340 - Axis5 S2C065=1, 2, or 3: XYZ 0
341 - Axis6 [0.001mm] 0
342 - Axis7 0
343 - Axis8 0
344 X Axis1 0
345 Y Axis2 0
347 1st Position(+)
- Axis4 0
348 - Axis5 S2C067=1, 2, or 3: XYZ 0
349 - Axis6 [0.001mm] 0
350 - Axis7 0
- Axis8 0
352 X Axis1 0
353 Y Axis2 0
355 2nd Position(-)
- Axis4 0
356 - Axis5 S2C067=1, 2, or 3: XYZ 0
357 - Axis6 [0.001mm] 0
358 - Axis7 0
359 - Axis8 0
360 X Axis1 0
361 Y Axis2 0
363 1st Position(+)
- Axis4 0
364 - Axis5 S2C069=1, 2, or 3: XYZ 0
365 - Axis6 [0.001mm] 0
366 - Axis7 0
- Axis8 0
368 X Axis1 0
369 Y Axis2 0
371 2nd Position(-)
- Axis4 0
372 - Axis5 S2C069=1, 2, or 3: XYZ 0
373 - Axis6 [0.001mm] 0
374 - Axis7 0
375 - Axis8 0
376 X Axis1 0
377 Y Axis2 0
379 1st Position(+)
- Axis4 0
380 - Axis5 S2C071=1, 2, or 3: XYZ 0
381 - Axis6 [0.001mm] 0
382 - Axis7 0
- Axis8 0
384 X Axis1 0
385 Y Axis2 0
387 2nd Position(-)
- Axis4 0
388 - Axis5 S2C071=1, 2, or 3: XYZ 0
389 - Axis6 [0.001mm] 0
390 - Axis7 0
391 - Axis8 0
23
S3C PARAMETER

392 X Axis1 0
393 Y Axis2 0
395 1st Position(+)
- Axis4 0
396 - Axis5 S2C073=1, 2, or 3: XYZ 0
397 - Axis6 [0.001mm] 0
398 - Axis7 0
- Axis8 0
400 X Axis1 0
401 Y Axis2 0
403 2nd Position(-)
- Axis4 0
404 - Axis5 S2C073=1, 2, or 3: XYZ 0
405 - Axis6 [0.001mm] 0
406 - Axis7 0
407 - Axis8 0
408 Axis Block Allowable Pulse(Not Used) 0
409 Robot Sphere Interference Robot1 0.001mm 0
410 Robot2 0.001mm 0
411 Check Robot3 0.001mm 0
412 Work Home Position Side Length 0.001mm 100000
413 Position Correction 0.001mm 10000
414 Speed Correction 0.01% 5000
0: Base1
PAM Function 1: Robot
415 Coordination 1
2: Tool
3-26: User1-24
416 Maximum Drift Angle of Twin Coordinated Motion 0.1deg 0
417 0
418 Base Axis Speed Limit Ratio (Segment Check Level) % 0: No Check 0
419 Wrist Axis Speed Limit Ratio (Segment Check Level) % 0: No Check 0
420 XYZ 0.001mm 10000
421 Position Correction Range Angle 0.01deg 1000
422 Pulse pulse 100
0: Base1
Standard Job Initial Displayed Coordination 1: Robot
423 2: Tool 0
3-26: User1-24
Other: Pulse
d0:Incremental Value
d1:Absolute Value
424 Input Range Limit bit 1
0:No Limit
1:S3C420-422 Limit
0: No Change
425 Position Correction Coordination Changing of Relative Job 0
1: Change
426 Analog Out 1st Filter Constant Channel 1 0
427 Analog Out 2nd Filter Constant Channel 1 0
436 Analog Out 1st Filter Constant Channel 6 For XEW01 Analog 0
437 Analog Out 2nd Filter Constant Channel 6 Output 0
msec
438 Analog Out 1st Filter Constant Channel 7 Functioned with 0
439 Analog Out 2nd Filter Constant Channel 7 ARATION Instruction 0
448 Analog Output 1st Filter Channel 12 0
450 Cutting Width Comensation Value (Form Cut Function) 0.001mm 0
451 Tool Data Automatic Setting Maximum Gap Amount<X2.10> 0.001mm 20000
|
499 0
24
S4C PARAMETER
S4C Byte Type (UCHAR)

0 0
1 0
2 0
3 Job Cue Use 0: Disable, 1: Enable 0
4 Trigger Input Signal 0
5 Que Data Input Signal 0
6 Que Disable Output Signal 0
7 Que Data Clear Signal 0
8 Anticipator Function 0: Disable, 1: Enable 0
0: Disable(Divided Number)
9 Distance Minitor at Step End 0
1: Enable
0: Disable
10 Step Continuance at Sampling 0
1: Enable
11 Posture Change at Reverse 0: Disable, 1: Enable 0
0: Specified by S2C195
12 MOVJ Posture Control at Relative Job 0
1: Posture Control
13 0
0: Teaching Point
14 Parallel Shift Job Conversion Method<X1.50> 0
1: Position Variable (past)
15 Estop Cursor Advance Control 0: Disable, 1: Enable 1
16 Estop Cursor Advance CONT Completion Position % 50
17 Estop Cursor Advance Start Step Motion Completeion Delay Time ms 10
18 0
19 0
20 0
21 0
22 0
23 0
24 0
25 0
26 0
27 0
28 0
29 0
30 0
31 0
32 0
Coordination Calcuration Method at User Frame Creation Job 0: 3 Points
33 0
Method Specified 1: 6 Points
34 0
35 0
36 0
37 0
38 0
39 0
40 Station 1 0
41 Station 2 0
42 Station 3 0
43 Twin Drive General Input No. Station 4 1 to 192 0
44 Station 5 0
45 Station 6 0
46 Reserved 0
47 Reserved 0
0: Enable Only when
48 FWD/BWD Synchronization at Twin Cordinated System 0
FD022=1, 1: Disable
0: All Group Servo On
49 No Group Axis Job Execution Condition 0
1: Any Group Servo On
0: Enable, 1: Disable (bit)
50 BWD Motion d0: No Control Group Job 2
d1: Concurrent Job
0: 3 Points (past system)
1: Multi Points
51 Robot Calibration Method 1
255: Multi points + Number
Input
52 Instruction Modification to Step 0: Disable, 1: Enable 0
53 Station Axis Angle Teaching 0: Disable, 1: Enable 0
54 Station 1 0
55 Station 2 0
56 Station Axis Angle Teaching Station 3 (Bit) 0
57 Method Station 4 0: Angle, 1: Distance 0
58 Station 5 0
59 Station 6 0
25
S4C PARAMETER

0: Axis No. Order (past
system)
60 Base Axis JOG Key Allocation 0
1: Fixed on Coordination
Direction
d0: At Changing to Teach
61 Manual Speed Automatic Change to SLOW Mode 0
d1: At Selecting Job
0: Standard,
62 User Frame Creating Method 0
1: Pulse Data Conversion
0: 1Cycle, Speed Change
Enable
63 Speed Override 0
1: Auto Cycle, Speed
Change Disable
0: 100% (No Override)
64 Override Speed Clamp at Switching to Play Mode 0
1: Selected Manual Speed
0: Enable
65 Control Group Axis Change Interlock 0
1: Disable
d0: Check Run 0: Cancel
66 Condition After Mode Change 0
d1 to d7: Not Used (bit) 1: Maintain
67 MOVJ->MOVL, MOVL-> Step Continuation<X1.71> 0: Enable, 1: Disable 0
68 0
69 0
70 0
71 0
72 0
0: Skip Execution
73 Arithmetic Instruction Execution after E-Stop<X3.00> 0
1: Re-execution
74 CALL/JUMP Motion Continuation Control<X3.00> 0: Disable, 1: Enable 1
75 Base Axis TCP Fixed Operation<X3.10> 0: Disable, 1: Enable 0
76 0
77 0
78 0
79 0
80 0
81 0
82 0
83 0
84 0
85 0
86 0
87 0
88 0
89 0
90 External Servo On/Off 0: Disable, 1: Enable 0
91 Block Axis Servo Off General Input No. 0
92 Block Axis Servo Off Brake Start Time 0.1sec 0
0: Wait Until 1st Group
Process End
93 Next Group Servo On/Off during 1st Group Processing 0
1: Not Wait and Servo Off
Immediately by Alarm
94 Station 1 0
95 Station 2 0
96 Brake On General Output Station 3 0
97 Station 4 0
98 Station 5 0
99 Station 6 0
100 0
101 0
102 0
103 0
104 0
105 0
106 0
107 0
108 0
109 0
110 0
111 0
112 0
113 0
114 0
115 0
116 Smoothing Filter at APTRKON Executing 0
117 0
118 0
119 0
26
S4C PARAMETER

120 0
121 0
122 0
123 0
124 0
125 0
126 0
127 0
128 0
129 0
130 0
131 0
132 0
133 0
134 0
135 0
136 0
137 0
138 0
139 0
140 0
141 0
142 0
143 0
144 0
145 0
146 0
147 0
148 0
149 0
150 0
151 0
152 0
153 0
154 0
155 0
156 0
157 0
158 0
159 0
160 0
161 0
162 0
163 0
164 0
165 0
166 0
167 0
168 0
169 0
170 0
171 0
172 0
173 0
174 0
175 0
176 0
177 0
178 0
179 0
180 0
181 0
182 0
183 0
184 0
185 0
186 0
187 0
188 0
189 0
190 Brake On General Output No. Robot 1 0
191 Robot 2 0
192 for Block Axis Servo Off Robot 3 0
193 0
194 0
195 0
196 0
197 0
198 0
199 0
27
S4C PARAMETER

200 Reserved 0
| Reserved 0
259 Reserved 0
260 0
| 0
499 0
28
RS PARAMETER
RS Byte Type (UCHAR)
RS Main Item Sub Item Unit Remarks Initial Value

0: No Use, 2: BSC LIKE, 3:
0 Standard Port Protocol (XCP01 Serial Port(X1.80)) FC1, 5: OBARA, 6: VISION, 2
7: MOTOWELD
1 Reserved 0
2 Reserved 0
3 Device Display (Floppy Disk/PC Card Sub Menu) 1: FC1, 2: FC2, 3: PC, 4: HD 2
4 0
5 Host Control (Read Only) 0: Disable, 1: Enable 0
0: Disable(ERC Compatible)
6 Data Transmission Extension 1
1: Enable(MRC Compatible)
7 0
8 0
9 0
10 0
11 0
12 0
13 0
14 0
15 0
16 0
17 0
18 0
19 0
20 0
21 0
22 0
23 0
24 0
25 0
26 0
27 0
28 0
29 0
30 Data Bits 7: 7bits, 8: 8bits 8
31 Stop Bits 0: 1bit, 1: 1.5bits, 2: 2bits 0
32 Parity 0: None, 1: Odd, 2: Even 2
1:150, 2:300, 3:600, 4: 1200
33 Baud Rate 7
5: 2400, 6: 4800, 7: 9600
0 to 100
34 Response Timer (Timer A) 0.1sec when no response or invalid 30
response
0 to 255
Text End Monitoring Timer (Timer
35 BSC Protocol Configuration 0.1sec when the text end characters 200
B)
are not received
0 to 30
36 ENQ Retry Count when no response or invalid 10
response
0 to 10
37 Data Retry Count when text block check error 3
(NAK receiving)
38 Block Check Method 0: Check Sum 0
39 0
40 0
41 0
42 0
43 0
44 0
45 0
46 0
47 0
48 0
49 0
29
RS PARAMETER

1:150, 2:300, 3:600, 4: 1200
53 Baud Rate 6
5: 2400, 6: 4800, 7: 9600
0 to 100
54 Response Timer (Timer A) when no response or invalid 0
response
0 to 255
Text End Monitoring Timer (Timer
55 when the text end characters 0
FC1 Protocol Configuration B)
are not received
0 to 30
56 ENQ Retry Count when no response or invalid 0
response
0 to 10
57 Data Retry Count when text block check error 0
(NAK receiving)
0: 640KB, 1: 720KB, 2:
58 FC2 Format 3
1.2MB, 3: 1.44MB
59 FC1/FC2 Job Overwrite 0: Disable, 1: Enable 0
60 0
61 0
62 0
63 0
64 0
65 0
66 0
67 0
68 0
69 0
70 IP Address 1 0
71 IP Address 2 0
72 IP Address 3 0
73 IP Address 4 0
74 Subnet Mask 1 0
75 Subnet Mask 2 0
76 Subnet Mask 3 0
77 Subnet Mask 4 0
78 Ethernet Protocol Configuration GW IP Address 1 0
79 GW IP Address 2 0
82 Server Address 1 0
86 MTU X 10 150
87 0
88 0
89 0
90 ME-NET Protocol Configuration ME-NET Timer A sec For Data Link Monitor 60
91 ME-NET Timer B sec For Computer Link Monitor 255
92 0
93 0
94 0
95 0
96 0
97 0
98 0
99 0
30
RS PARAMETER

100 VISION Protocol Configuration Data Bits 7: 7bits, 8: 8bits 8
101 (XCP01) Stop Bits 0: 1bit, 1: 1.5bits, 2: 2bits 2
1:150, 2:300, 3:600, 4:1200
103 Baud Rate 5:2400, 6:4800, 7:9600 8
8:19200
104 Response Wait Timer 1(SELCND) 0.1sec 100
105 Response Wait Timer 2(FIND) 0.1sec 20
106 Response Wait Timer 3(FIND) 0.1sec 100
107 Data Retry Count 3
108 0
109 0
1:150, 2:300, 3:600, 4:1200
MOTOWELD Protocol
113 Baud Rate 5:2400, 6:4800, 7:9600 8
Configuration (XCP01)
8:19200
114 Response Wait Timer 1 msec 10
115 Data Retry Count 3
116 Data Interval msec 10
117 0
118 0
119 0
120 0
121 0
122 0
123 0
124 0
125 0
126 0
127 0
128 0
129 0
130 0
131 0
132 0
133 0
134 0
135 0
136 0
137 0
138 0
139 0
140 0
141 0
142 0
143 0
144 0
145 0
146 0
147 0
148 0
149 0
31
CIO PARAMETER
CIO Byte Type (UCHAR)
CIO Main Item Sub Item Remarks Initial Value

0 Channel 1 0
1 Channel 2 0
2 Channel 3 Function of the IO Modules installed in each 0
3 Channel 4 channels is specified. 0
4 Channel 5 DIN count is specified with a code. 0
5 Channel 6 0 indicates no install. 0
6 Channel 7 (1) IO Group Count (d5d4d3d2d1d0) 0
7 DIN Configuration (XCP01) Channel 8 (DIN Count)/8 -> 0 to 32 (0 to 256 points) 0
8 Channel 9 0
9 Channel 10 (2) IO Type Selection (d7d6) 0
10 Channel 11 0: MRC IO (16byte Transmitting) 0
11 Channel 12 1: XRC IO (17byte Transmitting) 0
12 Channel 13 2: Distributed IO (17byte Transmitting) 0
13 Channel 14 0
14 Channel 15 69
15 Channel 1 0
16 Channel 2 0
19 Channel 5 DOUT count is specified with a code. 0
21 Channel 7 (1) IO Group Count (d5d4d3d2d1d0) 0
22 DOUT Configuration (XCP01) Channel 8 (DIN Count)/8 -> 0 to 32 (0 to 256 points) 0
23 Channel 9 0
28 Channel 14 0
29 Channel 15 69
32 Channel 3 Analog input count is specified with a code. 0
34 Channel 5 (1) AIN Channel Count (d3d2d1d0) 0
35 Channel 6 0 to 12 Points 0
36 Channel 7 0
37 AIN Configuration (Reserved) (XCP01) Channel 8 0
(2) AIN Accuracy Bit Count (d5)
38 Channel 9 0
0: 8bits, 1: 12, 16bits
39 Channel 10 0
40 Channel 11 0
47 Channel 3 Analog output count is specified with a code. 0
49 Channel 5 (1) AOUT Channel Count (d3d2d1d0) 0
50 Channel 6 0 to 12 Points 0
51 Channel 7 0
52 AOUT Configuration (XCP01) Channel 8 0
(2) AOUT Accuracy Bit Count (d5)
53 Channel 9 0
0: 8bits, 1: 12, 16bits
54 Channel 10 0
55 Channel 11 0
60 Channel 1 0
61 Channel 2 0
62 Channel 3 0
63 Channel 4 0
64 Channel 5 DI number of the IO Modules installed in each 0
66 Channel 7 Double assignment of the IO group on two or 0
67 DIN Assignment (XCP01) Channel 8 more IO modules is not allowed. 0
68 Channel 9 0 indicates no DI functioned IO module. 0
69 Channel 10 DI group is specified with a number 1 to 32. 0
32
CIO PARAMETER
70 Channel 11 (256 points) 0

71 Channel 12 0
72 Channel 13 0
73 Channel 14 0
74 Channel 15 1
75 Channel 1 0
76 Channel 2 0
77 Channel 3 0
78 Channel 4 0
79 Channel 5 DO number of the IO Modules installed in each 0
81 Channel 7 Double assignment of the IO group on two or 0
82 DOUT Assignment (XCP01) Channel 8 more IO modules is not allowed. 0
83 Channel 9 0 indicates no DO functioned IO module. 0
84 Channel 10 DO group is specified with a number 1 to 32. 0
85 Channel 11 (256 points) 0
86 Channel 12 0
87 Channel 13 0
88 Channel 14 0
89 Channel 15 1
90 Channel 1 0
91 Channel 2 0
92 Channel 3 0
93 Channel 4 0
94 Channel 5 Analog input number of the IO Modules 0
95 Channel 6 installed in each channels is specified. 0
96 Channel 7 Double assignment of the analog input on two 0
97 AIN Assignment (Reserved) (XCP01) Channel 8 or more IO modules is not allowed. 0
98 Channel 9 0 indicates no analog input functioned IO 0
99 Channel 10 module. 0
100 Channel 11 Analog input is specified with a number 1 to 12. 0
101 Channel 12 0
102 Channel 13 0
103 Channel 14 0
104 Channel 15 0
105 Channel 1 0
106 Channel 2 0
107 Channel 3 0
108 Channel 4 Analog output number of the IO Modules 0
109 Channel 5 installed in each channels is specified. 0
110 Channel 6 Double assignment of the analog output on two 0
111 Channel 7 0
or more IO modules is not allowed.
112 AOUT Assignment (XCP01) Channel 8 0
0 indicates no analog output functioned IO
113 Channel 9 0
module.
114 Channel 10 0
115 Channel 11 Analog output is specified with a number 1 to 0
116 Channel 12 12. 0
117 Channel 13 0
118 Channel 14 0
119 Channel 15 0
120 Pseudo Input #821X System Section (bit) 64
121 #822X System Section 0
122 #823X System Section 0
123 #824X User Section 0
124 d0: Group 1 Filtering
d1: Group 2 Filtering
| 0
(0: Enable, 1: Disable)
| 0
Filtering (0: Enable, 1: Disable)
| 0
| 0
33
CIO PARAMETER
128 CIO Command Execution 0: Whenever the input is ON.

0
1: Once when the input turns ON (OFF->ON)
129 CIO Loop Back Test 0: Enable(Alarm), 1: Disable 0
130 0
| Not Used 0
134 0
135 Channel 1 d0 to d6: XRC Board *
136 Channel 2 d7: MRC Board *
137 Channel 3 *
138 Channel 4 *
139 Channel 5 *
140 Channel 6 *
141 Circuit Board Type (XCP01) Channel 7 *
142 Channel 8 *
(for IO Module Configuration)
143 Channel 9 *
144 Channel 10 *
145 Channel 11 *
146 Channel 12 *
147 Channel 13 *
148 Channel 14 *
149 Channel 15 *
34
CIO PARAMETER
1. Function Parameter
(1) MRC MSB

Function Parameter d7 d6 d5 d4 d3 d2 d1 d0
CIO000 to CIO004
DIO Group Count
(DIO Counts)/8
AIN/AOUT Accuracy
0: 8bits, 1: 12, 16bits
AIN/AOUT Channel Count

1: 2 Channls
2: 4 Channls
3: 6 Channls
AIN/AOUT Selection
0: Analog Output
1: Analog Input
(2) XRC
XRC function parameters are devided for DIN, DOUT, AIN and AOUT for an extendibility(distributed
MSB LSB
DIN Function d7 d6 d5 d4 d3 d2 d1 d0
CIO000 to CIO0014
DIN Group Count

(DIN Counts)/8
IO Type Selection
0: MRC IO
1: XRC IO
2: Distributed IO
MSB LSB
DOUT Function d7 d6 d5 d4 d3 d2 d1 d0
CIO015 to CIO0029
DOUT Group Count

(DOUT Counts)/8
IO Type Selection
0: MRC IO
1: XRC IO
2: Distributed IO
35
CIO PARAMETER
MSB LSB
AIN Function d7 d6 d5 d4 d3 d2 d1 d0
CIO030 to CIO0044
AIN Channel Count

1: 1 Channel
2: 2 Channels
|
12: 12 Channels
AIN Accuracy
0: 8bits, 1: 12, 16bits
IO Type Selection
0: MRC IO
1: XRC IO
2: Distributed IO
MSB
AOUT Function d7 d6 d5 d4 d3 d2 d1
CIO045 to CIO0059 d0
AOUT Channel Count

1: 1 Channel
2: 2 Channels
|
12: 12 Channels
AOUT Accuracy
0: 8bits, 1: 12, 16bits
IO Type Selection
0: MRC IO
1: XRC IO
2: Distributed IO
2. IO Module Assignment
(1) XCP01, 15 Channels, XIO02 Fixed, First
(2) IO Module Assignment Count

IO Max Count: 256 Points
AIN/AOUT Max Count: 12 Channels
(3) IO modules are sequentially assigned from channel 1 to 14. (Channel 15 is exception.)
(3) EW boards are sequentially assigned from channel 1 to 14. (MRC is in reverse.)
EW IO Max Points: 8 Points X 3 Boards = 24 Points
Initial Value
Exp) CIO002 3 Channels 30 XEW01(1st)
CIO003 4 Channels 31 XEW01(2nd)
CIO004 5 Channels 32 XEW01(3rd)
36
AP PARAMETER
AP 4 Byte Type (LONG)
ARC WELDING
AxP Main Item Sub Item Unit Remarks Initial Value
0 Application Type (Arc Weldind Application) Same as S1D247 to 252 0
1 System Reserved (Work Level) 0
2 Abolition 0
Arc:49
3 Arc Strat Condition File No. for Welder 2 Arc+Arc:25
3 Arc:17
Arc:13
4 Arc End Condition File No. for Welder 2 Arc+Arc:7
3 Arc:5
0: MOV Instruction
(Local Speed)
5 Welding Speed Priority 0
1: Welding Condition File
(Global Speed)
6 0
Arc:51
7 Multi Layer Condition File No. for Welder 2
Arc+Arc:26
8 System Reserved (Speed Data Input Mode) 1
9 Work Continuing 0: Enable, 1: Disable 0
Arc:1
10 Welding Instruction Output Channel (when XEW board is mounted) Arc+Arc:4
3 Arc:7
11 Low Speed Directive (0 to 100) % Rate for maxmum directive. 20
Manual Wire Feeding Speed Polarity is specified in
12 High Speed Directive (0 to 100) % 80
Welder Condition File.
Multiplication Time<Specified
Time : Specific Output (5273,
5313, 5353)->0
13 Chip Replacement Time min 180
Multiplication Time >=
Specified Time: Specific
Welding Administrative Time Output (5273,5313,5353)->1
5314, 5354) -> 0
14 Nozzle Cleaning Time min 30
Output (5274,5314,5354)->1
5324, 5364) -> 0
15 Retry Count 10
Output (5284,5324,5364)->1
Time : Specific Output
(5285,5325,5365) -> 0
16 Welding Administrative Count Arc Shortage Restart Count 10
Output (5285,5325,5365)->1
Automatic Anti-sticking 5326, 5366) -> 0
17 10
Count Multiplication Time >=
Output (5286,5326,5366)->1
0
18 Arc Start Condition File No. for Welder 3
3 Arc:33
0
19 Arc End Condition File No. for Welder 3
3 Arc:9
20 Reserved for Welding Condition Change Function 0
21 0
22 0
23 0
24 0
25 0
26 General Output No for Hand Hand 1 Open Signal 1 to 192 9
27 Open/Close Signal (Jigless(Arc) Hand 1 Close Signal 1 to 192 10
28 Hand 2 Open Signal 1 to 192 11
29 Application)<X2.00> Hand 2 Close Signal 1 to 192 12
37
AP PARAMETER
HANDLING
0 Application Type Handling Application Same as S1D247 to 252 1
1 System Reserved Work Level 0
0: Disable
1to4: Hand(1to4)-1 Specific
2 F1 Key Function Out 0
5: AxP004 Specified General
Out
0: Disable
1to4: Hand(1to4)-2 Specific
3 F2 Key Function Out 0
5: AxP004 Specified General
Out
4 F1 Key Function General Output No. Enable when AxP002=5 1
5 F2 Key Function General Output No. Enable when AxP003=5 1
6 0
0 to 65535
Over 65535 is regarded as
Pulse Output Time for Hand
7 Hand 1to4 Common 0.01sec 65535. 0
Valve Control
0 indicates infinity (same as
level output)
8 System Reserved Speed Data Input Mode 0
9 System Reserved Work Continuing 0
Interlock with Specific
10 Hand Shock Sensor 0: Disable, 1: Enable 0
Output(#5276,5316,5356)
11 0
12 0
13 0
14 0
15 0
16 0
17 0
18 0
19 0
20 0
21 0
22 0
23 0
24 0
25 0
26 0
27 0
28 0
29 0
38
AP PARAMETER
GENERAL PURPOSE
0 Application Type (General Purpose Application) Same as S1D247 to 252 7
2 0
3 0
4 0
5 0
6 0
7 0
10 0
11 0
12 0
13 0
14 0
15 0
16 0
17 0
18 0
19 0
20 0
21 0
22 0
23 0
24 0
25 0
26 0
27 0
28 0
29 0
39
AP PARAMETER
SPOT (AIR GUN / MOTOR GUN)

0 Application Type (Spot Welding Application) Same as S1D247 to 252 2
2 0
3 Welder Connected Mximum Count 1 to 4 4
0: OFF, 1: ON
Gun No. (bit)
4 Stroke Change Signal at Full Open 0
d0:1, d1:2, d2:3, d3:4, d4:5,
d5:6, d6:7, d7:8
5 Stroke Change Response Time 0.1sec 0 to 9.9sec 0
0: Odd, 1: Even
d0: Welder 1
6 Welder Parity d1: Welder 2 0
d2: Welder 3
d3: Welder 4
7 Anticipator Condition Time (when omitted in Instruction) sec 0
0: Rise Detection (wait until
SPOT Instruction completion
8 Welding Completion Signal Detection 0
signal turns OFF if it is ON)
1: State Detection
9 System Reserved (Work Continuing) 0
10 Wear Amount Tolerance 0
11 0
12 0
13 0
14 Wear Compensation Teaching Method 0
15 Welding Error Reset Signal Output Time 0.1sec 0: No output 10
16 Electrode Wear Amount Warning Value Movable Side (Upper) 0.001mm 0
17 Electrode Wear Amount Warning Value Fixed Side (Lower) 0.001mm 0
18 Position Monitoring for SVSPOT (Motor Gun) 0: Enable, 1: Disable 0
19 0
20 0
21 0
22 0
23 0
24 0
25 0
26 0
27 0
28 0
29 0
40
AP PARAMETER
LASER WELDING
0 Application Type (Laser Welding Application) Same as S1D247 to 252 10
2 0
3 0
4 0
5 0
6 0
7 0
10 Analog Output Channel Start No. for Welder when XEW is mounted 1
11 Low % 0 - 100 20
Manual Wire Operation Speed
12 High % (rate for maximum data) 80
13 0
14 0
15 0
16 0
17 0
18 0
19 0
20 0
21 0
22 0
23 0
24 0
25 0
26 0
27 0
28 0
29 0
41
SE(COMARC) PARAMETER
SE 2 Byte Type (SHORT)
COMARC
SxE Main Item Sub Item Unit Remarks Initial Value
0 Application Type 0
1 0
2 0
3 0
4 0
5 0
6 0
7 0
8 0
9 0
10 0
11 0
12 0
13 0
14 0
15 0
16 0
17 0
18 0
19 0
SL1:1
20 Analog Signal Input Channel SL2:2
SL3:1
21 AD->Current Conversion Compnsation % 0 to 100 100
22 SENSON Correction Prohibition Count 0 to 10000 4
23 0
24 Minimum 0.1A 0 to 10000 500
Correction Prohibition Current
25 Maximum 0.1A 0 to 10000 10000
26 0
27 U/D 0.1A 0 to 10000 50
Dead Zone
28 R/L 0.1A 0 to 10000 50
29 0
30 Y+ 0.001mm 0 to 10000 150
31 Correction Data Y- 0.001mm 0 to 10000 150
32 (Weaving Freq<2.0Hz) Z+ 0.001mm 0 to 10000 150
33 Z- 0.001mm 0 to 10000 150
34 Y+ 0.001mm 0 to 10000 150
36 (2.0Hz=<Weaving Freq<3.0Hz) Z+ 0.001mm 0 to 10000 150
37 Z- 0.001mm 0 to 10000 150
38 Y+ 0.001mm 0 to 10000 100
40 (3.0Hz=<Weaving Freq<4.0Hz) Z+ 0.001mm 0 to 10000 100
41 Z- 0.001mm 0 to 10000 100
42 Y+ 0.001mm 0 to 10000 100
44 (Weaving Freq>=4.0Hz) Z+ 0.001mm 0 to 10000 100
45 Z- 0.001mm 0 to 10000 100
46 0
47 0
48 0
49 0
50 Sampling Interval msec 1 to 10 2
42
RCxG PARAMETER
RCxG (UP6-A000)
RCxG Main Item Sub Item Unit Remarks Initial Value

0 Robot Type 84
X-Direction Offset between S-Axis Rotation Center and
1 0.001mm 150000
L-Axis Rotation Center
2 Not Used 0.001mm 0
L-Axis Arm Length (Distance between L-Axis Rotation
3 0.001mm 570000
Center and U-Axis Rotation Center)
Z-Direction Offset between L-Axis Rotation Center and
4 0.001mm Only for K506 and S035 0
U-Axis Rotation Center
Offset between U-Axis Rotation Center and R-Axis
5 0.001mm 130000
Rotation Center
Distance between S-Axis Rotation Center and
6 0.001mm 0
R-Axis Rotation Center
U-Axis Arm Length (X-Direction Offset between U-Axis
8 0.001mm 640000
Rotation Center and B-Axis Rotation Center)
Offset between B-Axis Rotation Center and T-Axis
9 0.001mm only for K10-B00 0
Arm Dimension Rotation Center
Y-Direction Offset between R-Axis Rotation Center and
10 0.001mm 0
T-Axis Rotation Center
Distance between B-Axis Rotation Center and Flange
12 0.001mm 95000
Surface
Distance between C-Axis Rotation Center and W-Axis
13 0.001mm only for K60A-C00 0
Rotation Center
14 Distance between W-Axis Rotation Center and TCP 0.001mm only for K60A-C00 0
15 Link Parameter 1 deg 90
18 Link Parameter 4 deg -90
Distance between L-Axis Rotation Center and L-Axis
22 0.001mm 0
Drive Unit Rotation Center
Distance between L-Axis Rotation Center and U-Axis
23 0.001mm 0
Drive Unit Rotation Center
L-U Ball Screw Distance between L-Axis Rotation Center and L-Axis
24 0.001mm 0
Dimension Ball Screw Nut Rotation Center
Distance between L-Axis Rotation Center and U-Axis
25 0.001mm 0
Ball Screw Nut Rotation Center
26 L-Axis Angle Conversion Factor 0.001deg 0
27 U-Axis Angle Conversion Factor 0.001deg 0
28 Reserved 0
29 Reserved 0
Distance between U-Axis Rotation Center and
30 Tool Weight Gravity Center
0.001mm 807000
Distance between L-Axis Rotation Center and L-Axis Gravity
31 Center (S Type Robot: Distance between S-Axis Rotation 0.001mm 285000
Center and S-Arm 1st Gravity Center)
X-Direction Distance between U-Axis Rotation Center and U-
32 Arm Gravity Center (S Type Robot: Distance between S-Axis 0.001mm 409000
Rotation Center and S-Arm 2nd Gravity Center)
Distance between L-Axis Rotation Center and Balancer
33 Gravity Center Weight Gravity Center (S Type Robot: Distance between L- 0.001mm 0
Axis Rotation Center and L-Arm 1st Gravity Center)
Link-A Gravity Center (S Type Robot: Distance between L-
34 Axis Rotation Center and L-Arm 2nd Gravity Center)
0.001mm 0
Link-B Dimension (S Type Robot: Distance between L-Axis
35 Rotation Center and L-Arm 3rd Gravity Center)
0.001mm 0
X-Direction Distance between U-Axis Rotation Center and U-
36 Arm Rear Gravity Center (S Type Robot: Not Used)
0.001mm 0
37 Reserved 0
38 Reserved 0
39 Reserved 0
40 Weight Maximum Payload g 6000
L-Arm Weight (S Type Robot: S-Arm 1st Gravity
41 g 19000
Center Weight)
Weight on the U-Axis Rotation Center (S Type Robot:
42 g 10500
S-Arm 2nd Gravity Center Weight)
43
RCxG PARAMETER
U-Arm Rear Gravity Center Weight (S Type Robot:

43 g 18650
Weight on L-Axis Rotation Center)
U-Arm Weight (S Type Robot: L-Arm 1st Gravity
44 g 4250
Center Weight)
B-Axis Rotation Center Weight (S Type Robot: L-Arm
45 g 5480
2nd Gravity Center Weight)
Balancer Weight (S Type Robot : L-Arm 3rd Gravity
46 g 0
Center Weight)
Link-A Weight (S Type Robot: R-Axis Rotation Center
47 g 0
Weight)
48 U-Arm Tool Weight (S Type Robot: Not Used) g 0
49 End Effector Allowance GD2 gm^2 0
50 Reserved 0
51 Reserved 0
52 Reserved 0
53 Reserved 0
54 Reserved 0
55 Link-B Offset Angle against U-Arm 0.001deg 0
56 Balancer Weight Offset against Ground 0.001deg 0
Gravity Center
57 Reserved 0
Angle
58 Reserved 0
59 Reserved 0
60 Spring Constant gf/mm 0
Distance between L-Axis Rotation Center and Balancer
61 0.001mm 0
L-Axis Side Fulcrum
(1)Distance between Balancer Fulcrums at L-Axis
(1)Standard V Type
62 Vertical Posture 0.001mm 0
Balancer (2)Shelf Mounted
(2)Horizontal Mounting Position
63 Spring Initial Power gf 0
(2)Balancer Fulcrum Vertical Mounting Position (Height
64 0.001mm Shelf Mounted V Type 0
from L-Axis)
65 (2)Balancer A-Axis Side Fulcrum Offset Angle 0.001deg Shelf Mounted V Type 0
66 1 deg 0
67 2 deg 0
68 3 deg 0
70 5 deg 0
71 6 deg 0
72 7 deg 0
73 1 deg 0
74 2 deg 0
75 3 deg 0
Sub Link
76 4 deg 0
Parameter
77 5 deg 0
78 6 deg 0
79 7 deg 0
80 Reserved 0
0: Disable
Function
81 S-Axis Posture 1: Enable(for Base Axis) 1
(GD2 for No Payload is deleted)
Accel/Decel 2: Enable(for Wrist Axis)
82 Condition Minimum Inertia gm^2 This is not GD2 1010
83 Compensation Constant(1/X) 690
L-Axis Posture 0: Disable
84 Function 0
Accel/Decel 1: Enable
85 Condition Compensation Constant 0
B-Axis Accel/ 0: Disable
86 Decel Condition Function 0
1: Enable
at LUB-Axis
B-Axis Maximum Torque Compensation
87 Simultanious 0.001 0
Coefficient
Movement
88 Speed Level 0.01% Rate for Max PPS 0
89 Automatic Plagging Speed 0.01% Rate for Max PPS 0
90 Accel/Decel Reserved 0
91 Level Reserved 0
92 Reserved 0
93 Check Axis bit 0
94 Check Accelation Level % Rate for Max Acc/Dec 0
Special
95 Check Speed Level % Rate for Max PPS 0
Plagging
96 Check Composition Speed Level % Rate for Max PPS 0
97 Motion Stopping Time msec at reaching to the step 0
44
RCxG PARAMETER
0: Disable
1: Enable for SV16 LUB-
98 Torque Accel/Decel 0
Axis
2: Enable for K-type 6
99 B-Axis Maximum Torque at LUB-Axis Simultanious Movement gfcm 0
1: Standard
100 Function 0
2: Accel/Decel Tuning
Mode
d0: Only Motor Axis
d1: Only Load Axis
101 Optimum 0
d2: Torque Over Alarm Disregard at Centrifugal Force
Accel/Decel d3: Torque Over Alarm Disregard at Centrifugal Force
Control and Gravity
102 Torque Rate at Speed [%] 100
103 Torque Rate at Speed for Accel/Decel Tuning [%] 0
104 Switching 0: Disable, 1: Enable 1
105 Prohibition Axis bit 0
106 V Type L-Axis Function 0: Disable, 1: Enable 0
107 Posture L-Axis Speed Reducer Torque [gf.m] 0
Accel/Decel
108 Condition L-Axis Accel/Decel Compensation Constant(1/X) 0
109 Reserved 0
110 R-B Axes 0.001 0
111 R-T Axes 0.001 0
112 B-T Axes 0.001 44444
113 W-C Axes 0.001 0
114 Axis Reserved 0
115 Compensation Reserved 0
116 Reserved 0
117 Reserved 0
118 Reserved 0
119 Reserved 0
120 LU Interference Maximum Angle 0.1deg 1900
121 Limit Minimum Angle 0.1deg 100
122 S-Axis(+) Check Angle 0.1deg 1800
SU Interference
123 S-Axis(-) Check Angle 0.1deg -1800
Limit for K Type
124 U-Axis(+) Check Angle 0.1deg 1800
Robot
125 U-Axis(-) Check Angle 0.1deg -900
126 S-Axis(+) Check Angle 0.1deg 0
SL Interference
127 S-Axis(-) Check Angle 0.1deg 0
Limit for K Type
128 L-Axis(+) Check Angle 0.1deg 0
Robot
129 L-Axis(-) Check Angle 0.1deg 0
130 SL Interference Maximum Angle 0.1deg 0
Limit for S Type
131 Minimum Angle 0.1deg 0
Robot
Special SL
Interference
133 LU Interference Check Constant X10^6 0
Limit for B Type
134 U-Axis Basic Angle 0.1deg 0
Robot
135 LU Interference Check Constant X10^6 MRC: for SV16 LU 434783
136 for V Type L-Axis Basic Angle 0.1deg 500
137 Robot U-Axis Basic Angle 0.1deg -1200
138 UB Interference Maximum Angle 0.1deg 0
Limit for K204,
K205
RT Interference
140 Maximum Rotation Angle 0.1deg 0
Limit for P8
141 Check Constant X10^6 0
SL Interference
142 S-Axis Basic Angle 0.1deg 0
Limit for SV035
143 L-Axis Basic Angle 0.1deg 0
144 Reserved 0
145 Reserved 0
146 Reserved 0
147 Reserved 0
148 Reserved 0
149 Reserved 0
150 Reserved 0
151 Reserved 0
152 Reserved 0
153 Reserved 0
45
RCxG PARAMETER
154 Reserved 0
155 Reserved 0
156 Reserved 0
157 Reserved 0
158 Reserved 0
159 Reserved 0
(A S1) X Direction Offset between S-Axis Rotation
160 0.001mm 0
Center and L-Axis Rotation Center
161 (B S1) Not Used 0.001mm 0
162 (Angle S1) deg 0
(A S2) Link B Length (Distance between L-Axis
163 0.001mm 0
Rotation Center and Link B-A Joint)
(B S2) Y Direction Offset between S-Axis Rotation
164 0.001mm 0
Center and Link B
(A S3) Link A Length (Distance between Link B-A Joint
166 0.001mm 0
and Link A-U Arm Joint)
167 (B S3) Offset between Link B and Link A 0.001mm 0
Sub Link
168 Parameter (Angle S3) deg 0
169 (A S4) 0.001mm 0
170 (B S4) 0.001mm 0
172 (A S5) 0.001mm 0
173 (B S5) 0.001mm 0
175 (A S6) 0.001mm 0
176 (B S6) 0.001mm 0
178 Reserved 0
179 Reserved 0
180 Joint Maximum Speed 0.01% for Each Axis MAXPPS 10000
Play Speed
181 Linear Maximum Speed 0.1mm/s 15000
Limit
182 Angle Maximum Speed 0.1deg/s 3600
183 Joint Maximum Speed 0.01% for Each Axis MAXPPS 2000
for Play Linear Maximum
184 Jog Operation Linear Maximum Speed 0.01% 2000
Speed Limit Speed)
for Play Angle Maximum
185 Angle Maximum Speed 0.01% 1500
Speed)
186 JOG Joint, Low % 40
187 JOG Joint, Higt % 40
188 JOG Linear, Low % 40
189 Segment Check JOG Linear, High % 120
190 Level MOV Joint, Low % 40
191 MOV Joint, High % 120
192 MOV Linear, Low % 40
193 MOV Linear, High % 130
194 Angle Check Function 0: Disable, 1: Enable 1
195 PL Angle Check Angle Check Low 0.001deg 25000
196 Angle Check High 0.001deg 155000
197 Linear 0.1mm/sec 2500
Safety Speed 1
198 Joint 0.0001 1667
199 Linear 0.1mm/sec 330
Safety Speed 2
200 Joint 0.0001 220
202 JOG Joint, High % 20
203 Segment Data JOG Linear, Low % 20
204 Check Level at JOG Linear, High % 100
205 Safety Speed 1 MOV Joint, Low % 20
206 Signal IN MOV Joint, High % 20
210 JOG Joint, High % 4
211 Segment Data JOG Linear, Low % 4
212 Check Level at JOG Linear, High % 20
213 Safety Speed 2 MOV Joint, Low % 4
214 Signal IN MOV Joint, High % 4
46
RCxG PARAMETER
217 Safety Speed Segment Over Check Delay Compensation 0

218 Brake Slip Detection Check Axis bit 63
219 Reserved 0
0: Two Rotations
220 Playback Posture Control Method 1: Wrist Axis Uniformity 0
Output
Maximum Multiplication Cooling Time (Dash Registance Rise
221 16000
Temparature)
222 Dash Registance Cooling Time 0.01sec 1000
223 Next Servo Power On Limit Time 0.01sec 3000
224 Resurrection Resistance Cooling Fan Error Monitoring 0: Disable, 1: Enable 0
225 Reserved 0
226 Customer Mechanism Function 0: Disable, 1: Enable 0
227 Reserved 0
228 Reserved 0
229 Reserved 0
0: Disable
230 Function 1: Same Accel/Decel 0
Speed Limit
Time
Control
231 Enable Axis bit 0
232 Debug Mode 1: Alarm for Gravity Over 0
233 Reserved 0
234 Reserved 0
235 Pulse Output Control Axis <X2.50> bit d0: Axis 1 - d7: Axis 8 0
236 Abso Range Check Prohibition Axis <X2.52> bit d0: Axis 1 - d7: Axis 8 0
237 Reserved 0
238 Reserved 0
239 Reserved 0
240 Special LU Check Constant X10^6 0
241 Interference A L-Axis Basic Angle 0.1deg 0
242 for SV035 U-Axis Basic Angle 0.1deg 0
243 Special LU Check Constant X10^6 0
244 Interference B L-Axis Basic Angle 0.1deg 0
245 for SV035 U-Axis Basic Angle 0.1deg 0
246 Check Constant X10^6 0
247 L-Axis Basic Angle 0.1deg 0
248 Special LU U-Axis Basic Angle 0.1deg 0
249 Interference C S-Axis Check Start Angle(+) 0.1deg 0
250 for SV035 S-Axis Check End Angle(-) 0.1deg 0
251 L-Axis Check Start Angle 0.1deg 0
252 L-Axis Check End Angle 0.1deg 0
253 Special LU Check Start L-Axis Angle 0.1deg 0
Interference for
254 U-Axis Check Angle 0.1deg 0
K205S,K204S
255 JOG Operation Maximum Check Angle 0.1deg 0
Special UB
256 JOG Operation Mimimum Check Angle 0.1deg 0
Interference for
257 Playback Maximum Check Angle 0.1deg 0
K130SX
258 Playback Mimimum Check Angle 0.1deg 0
259 L-Axis Check Start Angle 0.1deg Reserved 0
Special LU
260 L-Axis Ckeck End Angle 0.1deg Reserved 0
Interference for
261 Check Constant X10^6 Reserved 0
SP100
262 Check Basic Angle 0.1deg Reserved 0
263 Check Constant X10^6 Reserved 0
264 Special LU Check Basic Angle 0.1deg Reserved 0
265 Interference for L-Axis Check Start Angle 0.1deg Reserved 0
266 SR100 L-Axis Ckeck End Angle 0.1deg Reserved 0
267 U-Axis Motion Limit Angle 0.1deg Reserved 0
268 Reserved 0
269 Reserved 0
270 Reserved 0
271 Reserved 0
272 Reserved 0
273 Reserved 0
274 Reserved 0
275 Reserved 0
276 Reserved 0
277 Reserved 0
278 Reserved 0
47
RCxG PARAMETER
279 Reserved 0
280 Reserved 0
281 Reserved 0
282 Reserved 0
283 Reserved 0
284 Reserved 0
285 Reserved 0
286 Reserved 0
287 Reserved 0
288 Reserved 0
289 Reserved 0
290 Reserved 0
291 Reserved 0
292 Reserved 0
293 Reserved 0
294 Reserved 0
295 Reserved 0
296 Reserved 0
297 Reserved 0
298 Reserved 0
299 Reserved 0
300 Method 3
Dynamics
301 Data type (for dubug) 0
Calculation
302 Fixed Axis bit 0
303 Dynamics End Effector Section: Link Weight g 6000
304 Calculation Link : Moment X 0.001kg.m 0
305 Parameter : Moment Y 0.001kg.m 0
306 : Moment Z 0.001kg.m 430
307 : Inertia Tensor XX 0.001kgm2 39
308 : Inertia Tensor YY 0.001kgm2 39
309 : Inertia Tensor ZZ 0.001kgm2 8
310 Link 1: Link Weight 63410
311 : Moment X 4915
312 : Moment Y -316
313 : Moment Z -7915
314 : Inertia Tensor XX 1055
315 : Inertia Tensor YY 1400
316 : Inertia Tensor ZZ 771
318 : Moment X 8412
319 : Moment Y -1
320 : Moment Z 2047
325 : Moment X 970
326 : Moment Y -660
327 : Moment Z -150
332 : Moment X 0
333 : Moment Y 4
334 : Moment Z -909
339 : Moment X 0
340 : Moment Y -43
341 : Moment Z 0
48
RCxG PARAMETER
346 : Moment X 0
347 : Moment Y 0
348 : Moment Z -24
353 : Moment X 0
354 : Moment Y 0
355 : Moment Z 0
360 : Moment X 0
361 : Moment Y 0
362 : Moment Z 0
367 : Moment X 0
368 : Moment Y 0
369 : Moment Z 0
374 : Moment X 0
375 : Moment Y 0
376 : Moment Z 0
381 : Moment X 0
382 : Moment Y 0
383 : Moment Z 0
388 : Moment X 0
389 : Moment Y 0
390 : Moment Z 0
395 : Moment X 0
396 : Moment Y 0
397 : Moment Z 0
402 : Moment X 0
403 : Moment Y 0
404 : Moment Z 0
409 : Moment X 0
410 : Moment Y 0
411 : Moment Z 0
49
RCxG PARAMETER

416 : Moment X 0
417 : Moment Y 0
418 : Moment Z 0
DYN Model Averaging Max Increment: Link
422 g 600
weight
423 : Moment X 0.001kg.m 120
424 : Moment Y 0.001kg.m 120
425 : Moment Z 0.001kg.m 120
426 : Inertia Tensor XX 0.001kgm2 6
427 : Inertia Tensor YY 0.001kgm2 6
428 : Inertia Tensor ZZ 0.001kgm2 6
429 Reserved 0
430 Load on S-Axis Base: Weight g 0
431 : X Position 0.001mm 0
432 : Y Position 0.001mm 0
433 Load on U-Axis Base: Weight g 9000
434 : Arm Direction Position 0.001mm 12000
435 : Height 0.001mm 198000
436 T-Axis Parallel Hand: Weight g 0
437 : Hand Direction Gravity Center 0.001mm 0
438 : Flange Direction Gravity Center 0.001mm 0
439 Reserved 0
440 Reserved 0
441 Reserved 0
442 Reserved 0
443 Reserved 0
444 Reserved 0
445 Reserved 0
446 Reserved 0
447 Reserved 0
448 Reserved 0
449 Reserved 0
0: Past(Old)
1: Path Constant Fine
450 Method 1
2: Path Constant High
Corner Control Speed
451 Fine Motion Maximum Speed % 40
452 Transient Response High Speed Motion 0.1mm 20
453 Inside Going Ratio for High Speed Motion % 40
454 Frequency 1 0.1Hz 0
462 Weaving Frequency 9 0.1Hz 0
463 Amplitude Frequency 10 0.1Hz 0
464 Comensation Compensation 1 % 0
465 (SLU Axes) Compensation 2 % 0
466 Compensation 3 % 0
50
RCxG PARAMETER

482 Weaving Frequency 9 0.1Hz 0
483 Amplitude Frequency 10 0.1Hz 0
484 Comensation Compensation 1 % 0
485 (RBT Axes) Compensation 2 % 0
494 Reserved 0
495 Reserved 0
496 Reserved 0
497 Reserved 0
498 Reserved 0
499 Reserved 0
500 Reserved 0
501 Reserved 0
502 Reserved 0
503 Reserved 0
504 Reserved 0
505 Reserved 0
506 Reserved 0
507 Reserved 0
508 Reserved 0
509 Reserved 0
510 Reserved 0
511 Reserved 0
512 Reserved 0
513 Reserved 0
514 Reserved 0
515 Reserved 0
516 Reserved 0
517 Reserved 0
518 Reserved 0
519 Reserved 0
520 Reserved 0
521 Reserved 0
522 Reserved 0
523 Reserved 0
524 Reserved 0
525 Reserved 0
526 Reserved 0
527 Reserved 0
528 Reserved 0
529 Reserved 0
530 Reserved 0
531 Reserved 0
532 Reserved 0
533 Reserved 0
534 Reserved 0
535 Reserved 0
536 Reserved 0
537 Reserved 0
538 Reserved 0
539 Reserved 0
540 Reserved 0
541 Reserved 0
542 Reserved 0
543 Reserved 0
544 Reserved 0
51
RCxG PARAMETER
545 Reserved 0
546 Reserved 0
547 Reserved 0
548 Reserved 0
549 Reserved 0
550 Reserved 0
551 Reserved 0
552 Reserved 0
553 Reserved 0
554 Reserved 0
555 Reserved 0
556 Reserved 0
557 Reserved 0
558 Reserved 0
559 Reserved 0
560 Reserved 0
561 Reserved 0
562 Reserved 0
563 Reserved 0
564 Reserved 0
565 Reserved 0
566 Reserved 0
567 Reserved 0
568 Reserved 0
569 Reserved 0
570 Reserved 0
571 Reserved 0
572 Reserved 0
573 Reserved 0
574 Reserved 0
575 Reserved 0
576 Reserved 0
577 Reserved 0
578 Reserved 0
579 Reserved 0
580 Reserved 0
581 Reserved 0
582 Reserved 0
583 Reserved 0
584 Reserved 0
585 Reserved 0
586 Reserved 0
587 Reserved 0
588 Reserved 0
589 Reserved 0
590 Reserved 0
591 Reserved 0
592 Reserved 0
593 Reserved 0
594 Reserved 0
595 Reserved 0
596 Reserved 0
597 Reserved 0
598 Reserved 0
599 Reserved 0
600 Accel/Decel Accelation Time Axis1 0.001sec 120
601 Condition Axis2 400
602 Axis3 350
603 Axis4 120
604 Axis5 120
605 Axis6 120
606 Axis7 0
607 Axis8 0
608 Decelation time Axis1 0.001sec 120
609 Axis2 400
610 Axis3 350
611 Axis4 120
52
RCxG PARAMETER
612 Axis5 120

613 Axis6 120
614 Axis7 0
615 Axis8 0
616 Plagging Constant Axis1 0.1% 1000
617 Axis2 1000
618 Axis3 1000
619 Axis4 1000
620 Axis5 1000
621 Axis6 1000
622 Axis7 0
623 Axis8 0
624 Mechanical Software Limit (+) Axis1 pulse 264444
625 Axis2 208389
626 Axis3 134444
627 Axis4 160000
628 Axis5 181818
629 Axis6 149610
630 Axis7 0
631 Axis8 0
632 Mechanical Software Limit (-) Axis1 pulse -264444
633 Axis2 -121000
634 Axis3 -107555
635 Axis4 -160000
636 Axis5 -36364
637 Axis6 -149610
638 Axis7 0
639 Axis8 0
Motion Limit
640 Motor Limit (+) Axis1 pulse 264444
641 Axis2 208389
642 Axis3 134444
643 Axis4 160000
644 Axis5 181818
645 Axis6 153701
646 Axis7 0
647 Axis8 0
648 Motor Limit (-) Axis1 pulse -264444
649 Axis2 -121000
650 Axis3 -107556
651 Axis4 -160000
652 Axis5 -36364
653 Axis6 -150428
654 Axis7 0
655 Axis8 0
656 MAXPPS Axis1 pulse/sec refer to RCxG848 217778
657 Axis2 215111
658 Axis3 228556
659 Axis4 297778
660 Axis5 270707
661 Axis6 207792
662 Axis7 0
663 Maximum Axis8 0
664 Speed Motor Rotation Count Limit Axis1 rpm 0
665 Axis2 0
666 Axis3 0
667 Axis4 0
668 Axis5 0
669 Axis6 0
670 Axis7 0
671 Axis8 0
672 Reduction Ratio Molecule (Travel axis -> Resolution) Axis1 1
673 (Travel axis: 0.001mm/Motor 1 Turn) Axis2 -1
674 Axis3 1
675 Axis4 -1
676 Axis5 22
677 Axis6 -77
678 Axis7 0
53
RCxG PARAMETER
679 Axis8 0
680 Denominator (Travel axis -> Not Used) Axis1 140
681 Axis2 121
682 Axis3 121
683 Axis4 80
684 Axis5 1600
685 Axis6 2880
686 Axis7 0
687 Axis8 0
688 Fixed Inertia for Posture Accel/Decel Control Axis1 0.001 675
689 (System Reserved) Axis2 kg.m^2 0
690 Axis3 0
691 Axis4 0
692 Axis5 0
693 Axis6 0
694 Axis7 0
695 Axis8 0
696 Load Allowance Peak Torque Axis1 0.001 Nm 539000
697 Axis2 1029000
698 Axis3 411600
699 Axis4 55900
700 Axis5 43100
701 Axis6 34300
702 Axis7 0
703 Axis8 0
704 High Speed Inertia Axis1 1e-7 629
705 Axis2 kg.m^2 1233
706 Axis3 568
707 Axis4 902
708 Axis5 313
709 Axis6 559
710 Axis7 0
711 Axis8 0
712 Speed Reducer Efficiency Axis1 % 80
713 Axis2 80
714 Axis3 80
715 Axis4 80
716 Axis5 80
717 Axis6 80
718 Axis7 0
719 Axis8 0
720 Spring Constant Axis1 Nm/rad 202140
721 Axis2 336899
722 Axis3 168450
723 Axis4 12802
724 Axis5 10107
725 Axis6 8086
726 Axis7 0
Mechanical
727 Axis8 0
Element
728 Viscosity coefficient (Load Axis) Axis1 1e-6 200000
Information
729 Axis2 N.m.s/rad 300000
730 Axis3 100000
731 Axis4 26000
732 Axis5 16500
733 Axis6 13000
734 Axis7 0
735 Axis8 0
736 Brake Slip Detection Check Allowance Value Axis1 pulse 250
737 Axis2 250
738 Axis3 250
739 Axis4 500
740 Axis5 500
741 Axis6 500
742 Axis7 0
743 Axis8 0
744 Coulomb Friction Axis1 0.001 Nm 142
745 Axis2 309
54
RCxG PARAMETER
746 Axis3 160

747 Axis4 47
748 Axis5 31
749 Axis6 33
750 Axis7 0
751 Axis8 0
752 Accel/Decel Allowable Torque Limit Axis1 % 40
753 (Load Axis) Axis2 58
754 Axis3 37
755 Axis4 36
756 Axis5 46
757 Axis6 40
758 Axis7 0
759 Axis8 0
760 Accel/Decel Allowable Torque Limit Axis1 % 100
761 (Motor Axis) Axis2 100
762 Axis3 100
763 Axis4 100
764 Axis5 100
765 Axis6 100
766 Axis7 0
767 Axis8 0
768 Load Inertia Fixed Value Axis1 0.001 0
769 Axis2 [kg.m^2] 0
770 Axis3 0
771 Axis4 0
772 Axis5 0
773 Axis6 0
774 Axis7 0
775 Axis8 0
776 Load Gravity Moment Fixed Value Axis1 0.001Nm 0
777 Axis2 0
778 Axis3 0
779 Axis4 0
780 Axis5 0
781 Axis6 0
782 Axis7 0
783 Dynamics Fixed Axis8 0
784 Model Axis Type Axis1 1: Rotation 0
785 Axis2 2: Linear 0
786 Axis3 0
787 Axis4 0
788 Axis5 0
789 Axis6 0
790 Axis7 0
791 Axis8 0
792 Axis1 0 -> Magnification=1 0
793 Axis2 0
794 Axis3 0
795 DYN Fixed Axis: Inertia Moment Parameter Axis4 0
796 Magnification Axis5 0
797 Axis6 0
798 Axis7 0
799 Axis8 0
800 Allowable Brake Torque Axis1 Nm 0
801 Axis2 0
802 Axis3 0
803 Axis4 0
804 Axis5 0
805 Axis6 0
806 Axis7 0
807 Axis8 0
Speed Limit
808 Speed Adjustment Ratio Axis1 % 0
809 Axis2 0
810 Axis3 0
811 Axis4 0
812 Axis5 0
55
RCxG PARAMETER
813 Axis6 0
814 Axis7 0
815 Axis8 0
816 Viscosity Friction Adjustment Ratio Axis1 % 0
817 Axis2 0
818 Axis3 0
819 Axis4 0
820 Axis5 0
821 Axis6 0
822 Axis7 0
823 Axis8 0
824 Coulomb Friction Adjustment Ratio Axis1 % 0
825 Axis2 0
826 Axis3 0
Optimum
827 Axis4 0
Accel/Decel
828 Axis5 0
Control
829 Axis6 0
830 Axis7 0
831 Axis8 0
832 Slowest Accel/Decel Time at Torque Over Axis1 0.001sec 350
833 Axis2 400
834 Axis3 350
835 Axis4 120
836 Axis5 120
837 Axis6 120
838 Axis7 0
839 Axis8 0
840 Torque Limit Adjustment Ratio Axis1 % 0
841 Axis2 0
842 Axis3 0
843 Acce/Decel Axis4 0
844 Tuning Axis5 0
845 Axis6 0
846 Axis7 0
847 Axis8 0
848 MAXPPS Axis1 pulse/sec Set same value with 217778
849 Axis2 RC656-653. 215111
850 Maximum Axis3 228556
851 Speed for Axis4 297778
852 Speed Watcher Axis5 270707
853 Board Axis6 207792
854 Axis7 0
855 Axis8 0
856 Reset Pulse for MRESET Axis1 pulse 0
857 Axis2 0
858 Axis3 0
859 Axis Endless Axis4 0
860 Function Axis5 0
861 Axis6 0
862 Axis7 0
863 Axis8 0
864 Reserved Axis1 0
865 Axis2 0
866 Axis3 0
867 Axis4 0
868 Axis5 0
869 Axis6 0
870 Axis7 0
871 Axis8 0
873 Axis2 0
874 Axis3 0
875 Axis4 0
876 Axis5 0
877 Axis6 0
878 Axis7 0
879 Axis8 0
56
RCxG PARAMETER

881 Axis2 0
882 Axis3 0
883 Axis4 0
884 Axis5 0
885 Axis6 0
886 Axis7 0
887 Axis8 0
889 Axis2 0
890 Axis3 0
891 Axis4 0
892 Axis5 0
893 Axis6 0
894 Axis7 0
895 Axis8 0
897 Axis2 0
898 Axis3 0
899 Axis4 0
900 Axis5 0
901 Axis6 0
902 Axis7 0
903 Axis8 0
905 Axis2 0
906 Axis3 0
907 Axis4 0
908 Axis5 0
909 Axis6 0
910 Axis7 0
911 Axis8 0
913 Axis2 0
914 Axis3 0
915 Axis4 0
916 Axis5 0
917 Axis6 0
918 Axis7 0
919 Axis8 0
921 Axis2 0
922 Axis3 0
923 Axis4 0
924 Axis5 0
925 Axis6 0
926 Axis7 0
927 Axis8 0
929 Axis2 0
930 Axis3 0
931 Axis4 0
932 Axis5 0
933 Axis6 0
934 Axis7 0
935 Axis8 0
937 Axis2 0
938 Axis3 0
939 Axis4 0
940 Axis5 0
941 Axis6 0
942 Axis7 0
943 Axis8 0
945 Axis2 0
946 Axis3 0
57
RCxG PARAMETER
947 Axis4 0
948 Axis5 0
949 Axis6 0
950 Axis7 0
951 Axis8 0
953 Axis2 0
954 Axis3 0
955 Axis4 0
956 Axis5 0
957 Axis6 0
958 Axis7 0
959 Axis8 0
961 Axis2 0
962 Axis3 0
963 Axis4 0
964 Axis5 0
965 Axis6 0
966 Axis7 0
967 Axis8 0
969 Axis2 0
970 Axis3 0
971 Axis4 0
972 Axis5 0
973 Axis6 0
974 Axis7 0
975 Axis8 0
977 Axis2 0
978 Axis3 0
979 Axis4 0
980 Axis5 0
981 Axis6 0
982 Axis7 0
983 Axis8 0
985 Axis2 0
986 Axis3 0
987 Axis4 0
988 Axis5 0
989 Axis6 0
990 Axis7 0
991 Axis8 0
993 Axis2 0
994 Axis3 0
995 Axis4 0
996 Axis5 0
997 Axis6 0
998 Axis7 0
999 Axis8 0
58

Yasnac XRC Parameter List: Do Not Submit This Electronic Data To The Customer

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Yasnac XRC Parameter List: Do Not Submit This Electronic Data To The Customer

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YASNAC XRC PARAMETER LIST

Do not submit this electronic data to the customer.

THIS MATERIAL IS FOR STUDY PURPOSE ONLY.

Manual No. HC9401046

S1D PARAMETER ------------------------------ 6

S2D PARAMETER ------------------------------ 10

S2C PARAMETER ------------------------------ 12

S3C PARAMETER ------------------------------ 18

S4C PARAMETER ------------------------------ 25

CIO PARAMETER ------------------------------ 32

RCG PARAMETER ------------------------------ 43

FD Byte Type (UCHAR)

FD Item Unit Remarks Initial

FD Item Unit Remarks Initial

FD Item Unit Remarks Initial

S1D Byte Type (UCHAR)

S1D Main Item Sub Item Unit Remarks Initial

S1D Main Item Sub Item Unit Remarks Initial

S1D Main Item Sub Item Unit Remarks Initial

250 Application Use Robot 1 d0: 1st Application 1

S1D Main Item Sub Item Unit Remarks Initial

S2D 4 Byte Type (LONG)

S2D Main Item Sub Item Unit Remarks Initial Value

S2D Main Item Sub Item Unit Remarks Initial Value

S2C Byte Type (UCHAR)

S2C Main Item Sub Item Unit Remarks Initial Value

S2C Main Item Sub Item Unit Remarks Initial Value

S2C Main Item Sub Item Unit Remarks Initial Value

S2C Main Item Sub Item Unit Remarks Initial Value

S2C Main Item Sub Item Unit Remarks Initial Value

S2C Main Item Sub Item Unit Remarks Initial Value

S3C 4 Byte Type (LONG)

S3C Main Item Sub Item Unit Remarks Initial Value

S3C Main Item Sub Item Unit Remarks Initial Value

S3C Main Item Sub Item Unit Remarks Initial Value

S3C Main Item Sub Item Unit Remarks Initial Value

S3C Main Item Sub Item Unit Remarks Initial Value

S3C Main Item Sub Item Unit Remarks Initial Value

S3C Main Item Sub Item Unit Remarks Initial Value

S4C Byte Type (UCHAR)

S4C Main Item Sub Item Unit Remarks Initial Value

S4C Main Item Sub Item Unit Remarks Initial Value

S4C Main Item Sub Item Unit Remarks Initial Value

S4C Main Item Sub Item Unit Remarks Initial Value

RS Byte Type (UCHAR)

RS Main Item Sub Item Unit Remarks Initial Value

RS Main Item Sub Item Unit Remarks Initial Value

RS Main Item Sub Item Unit Remarks Initial Value

CIO Byte Type (UCHAR)

CIO Main Item Sub Item Remarks Initial Value

70 Channel 11 (256 points) 0

128 CIO Command Execution 0: Whenever the input is ON.

(1) MRC MSB

AIN/AOUT Channel Count

DIN Group Count

DOUT Group Count

AIN Channel Count

AOUT Channel Count

(1) XCP01, 15 Channels, XIO02 Fixed, First

(2) IO Module Assignment Count

AP 4 Byte Type (LONG)

SPOT (AIR GUN / MOTOR GUN)