7
Controller system settings
7-28
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DO output at program reset
‹
RESCDO
›
This parameter sets the DO/MO/LO/TO/SO port outputs to RESET/HOLD when all programs are reset or the HALT ALL
statement is executed. When this parameter is initialized, "0: IO_RESET" is set.
Setting Meaning
0: IO_RESET
The DO/MO/LO/TO/SO port outputs are reset when executing any of the following operations.
• All reset (RESETALL) is performed during automatic operation.
• Dedicated input signal DI15 or SI15 (program reset) is turned on during program stop.
• Any of the following data is initialized by selecting [System]
[Initialize].
ALL: All data
PGM: Program data
• Online command @RESET, @INIT PGM, @INIT ALL, @INIT MEM, or @SWI is executed.
• HALTALL is executed in the program.
1: IO_HOLD
Even when any of the operations shown above is executed, the DO/MO/LO/TO/SO port outputs are
not reset.
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Remote command
‹
RMTCMD
›
This parameter sets VALID/INVALID of the remote command. When the option parameter "DeviceNet I/O type" is set
to "COMPACT", the remote command cannot be used even when this parameter is set to "VALID". When this
parameter is initialized, "1: VALID" is set.
Setting Meaning
0: INVALID Remote command cannot be used.
1: VALID Remote command can be used.
■
DI17 mode
‹
DI17MD
›
This parameter sets the operation of the dedicated input DI17/SI17. When this parameter is initialized, "0: ABS" is set.
Setting Meaning
0: ABS
When the DI17/SI17 signal is input, return-to-origin of the absolute type motor axis is performed
For the incremental specifications, return-to-origin is performed by the DI14/SI14 input.
1: ABS_ORG
When the DI17/SI17 signal is input, return-to-origin of the absolute and incremental type axes is
performed.
■
Indiv. Origin
‹
IOORGMD
›
This parameter sets axes to perform return-to-origin; all axes with return-to-origin input DI14 (for incremental axes) /
DI17 (for absolute axes), or only specified axes. When this parameter is initialized, "0: INVALID" is set.
Setting Meaning
0: INVALID Performs return-to-origin on all axes.
1: VALID
Performs return-to-origin on the axes specified by "Axes sel. port (DI & SI)" or "Gripper origin axes
select port (DI & SI)" parameter and the gripper only.
■
Axes sel. port (DI & SI)
‹
IOORGIN
›
This parameter sets ports which specify axes to perform return-to-origin when the "Indiv. Origin" parameter is set to
"VALID". Axis 1 of robot 1 is "0" pit of specified port, then axes are allocated subsequently. When the number of axes
exceeds 8, the next port is used to specify 16 axes maximum. When this parameter is initialized, "2" is set.
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