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Omron YRC - I;O parameters

Omron YRC
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7
Controller system settings
7-14
Set the workpiece weight held at the robot tip for the tip weight of the robot parameters.
The value of the arm length parameter may affect the acceleration. The effective stroke value of each axis needs to
be input for the arm length.
I/O parameters
For details about parameters, refer to "10.7 I/O parameters" in this Chapter.
Name Identifier Setting range Initial value
DO output at emergency stop EMGCDO
0: IO_RESET, 1: IO_HOLD
1
Error output (DO & SO)* ERPORT 0 to 0277 (Octal) 0
Battery warning output (DO & SO)* BTALRM 0 to 0277 (Octal) 0
DIO Noise Cancel Num. DIOCAN 0 to 7 1
DO output at program reset RESCDO
0: IO_RESET, 1: IO_HOLD
0
Remote command RMTCMD 0: INVALID, 1: VALID 1
DI17 mode DI17MD 0: ABS, 1: ABS_ORG 0
Indiv. Origin IOORGMD 0: INVALID, 1: VALID 0
Axes sel. port (DI & SI) IOORGIN 2 to 027 (Octal) 2
Done output port (DO & SO)* IOORGOUT 0 to 027 (Octal) 0
Servo output port (DO & SO)* IOSRVOUT 0 to 027 (Octal) 0
Gripper origin axes select port (DI & SI)* GRPORGIN 0 to 027 (Octal) 0
* New setting values will be valid after turning off and on the power.
Option parameters
For details about parameters, refer to "10.8 Option board related parameters" in this Chapter.
Name Identifier Setting range
Initial
value
Separate
manual
Option board enable* OPTENBL 0: INVALID, 1: VALID 1
Parallel IO ID* DIOID 1234 to 4321 1234
PROFIBUS station address* PBUSADD 1 to 125 125
Gripper servo when emergency stop GEMGMD 0: OFF, 1: ON 1
Include Gripper in Origin GORGMD 0: NO, 1: YES 1
Manual Holding of Gripper GMHLMD 0: INVALID, 1: VALID 1
Gripper origin sequence GORGORD 1234 to 4321 1234
Gripper origin priority GORGPRI 0: AFTER, 1: BEFORE 0
DeviceNet address ID DEVADD 0 to 63 0
DeviceNet baudrate DEVCOM 0:125K, 1:250K, 2: 500K, 3: AUTO 0
DeviceNet I/O type DEVTYP 0: NORMAL, 1: COMPACT 0
EtherNet/IP IP address EIPADD 0.0.0.0 to 255.255.255.255 0.0.0.0
EtherNet/IP subnet mask EIPSUB 0.0.0.0 to 255.255.255.255 0.0.0.0
EtherNet/IP default gateway EIPDEF 0.0.0.0 to 255.255.255.255 0.0.0.0
EtherNet/IP DHCP enable EIPDHCP 0: INVALID, 1: VALID 0
* New setting values will be valid after turning off and on the power.

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