Yamaha SRCP User Manual page 72

5-2 Parameter Description
5
14
5-
PRM51: Lead program number
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.
PRM52: Hold gain
Default value: Depends on the robot.
PRM53: Zone output selection
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 PRM53. The output logic can
also be changed.
This parameter functions are allocated in bit units.
Input range: 0 to 255
Default value: 0
Function allocation in bit units
Bit
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
8 to 15 Reserved for system use
Example: To set zone 1 output to positive logic and zone 2 output to negative logic while enabling
zone 1 output and zone 2 output, make the following settings.
PRM53 should be set to "70" because of 0000000001000110 (binary)=70 (decimal).
Bit
Selected value
Addition value
Function Selected value
0: Disabled
1: Enabled
0: Disabled
1: Enabled
0: Disabled
1: Enabled
0: Disabled
1: Enabled
0: Positive logic
1: Negative logic
0: Positive logic
1: Negative logic
0: Positive logic
1: Negative logic
0: Positive logic
1: Negative logic
15 to 8 7 6 5 4
0 0 1 0 0
0 0 64 0 0
Addition value
0
1
0
2
0
4
0
8
0
16
0
32
0
64
0
128
0
3 2 1 0 PRM53
0 1 1 0
0 4 2 0 64+4+2=70