Concurrent I/O•Parameter - Motoman

2.2 System Conform ParametersS2C088: CHECK AND MACHINE-LOCK KEY OPERATION INPLAY MODEThis parameter specifies whether to permit or prohibit in play mode to change the operationthat changes the operation condition. Even if an error occurs because fo the operation withthe keys, the manipulator does not stop.S2C089: RESERVED WORK JOB CHANGING OPERATIONThis parameter specifies whether to permit reserved work job changing operation.The designation can be set in the operating condition set display.S2C090: MASTER CALL OPERATION IN PLAY MODEThis parameter specifies whether the master call operation in play mode is permitted or not.When the independent control function is valid, the master job for sub-master is specified atthe same time. The specification can be set on the operating condition set display.S2C091: LANGUAGE LEVELThis parameter specifies the level of the robot language (INFORM II). The levels simplify theinstruction registering operation. With YASNAC XRC, all robot instructions can be executedregardless of specification of instruction sets. The specification can be set on the teachingcondition set display.1. Contracted LevelOnly frequently used robot instructions are selected to reduce the number of registeredinstructions. Robot instructions displayed on the soft keys are also reduced so thatspecification is simplified.2. Standard/Expanded LevelAll the robot instructions are available in standard and expanded levels. The two levelsare distinguished by the number of additional information items (tags) that can be usedwith robot instructions. At the expanded level, the flowing functions are available.• Local Variables and Array Variables• Use of Variables for Tags (Example: MOVJ VJ=I000)The above functions are not available at the standard level. This reduces the numberof data required to register instructions, therefore simplifies operation.2-16