Concurrent I/O•Parameter - Motoman

2.2 System Conform ParametersS2C097: INITIAL OPERATION OF MANIPULATORThis parameter specifies the operation apeed of the first section when starting. Specify theoperation speed with the low-speed start (S1CxG044). When starting at low-speed, the robotstops after reaching the indicated step regardless of the cycle setting. If the robot is paused inlow-speed operation, it moves at teaching speed when starting.0: The specification can be set on the play condition set display. Operates at low speedonly when low speed start is set. Operates at taught speed when not instructed.1: Starts at low speed after editing regardless of soft key instructions.S2C098: PLAYBACK EXECUTION AT CYCLE MODE “1- STEP”Parameter SettingValue0MOVLDOUTTIMERDOUTMOVLOperation UnitsStops at every instruction.1MOVLDOUTTIMERDOUTMOVLStops at move instruction.NOTEWhen operating “FORWARD” by the programming pendant, the units for exection are setin another parameter (S2C078).S2C099: EXTERNAL STARTThis parameter specifies whether a start instruction from external input is accepted or not.The specification can be set on the operating condition set display.S2C100: PLAYBACK PANEL STARTThis parameter specifies whether a start instruction from the playback panel is accepted ornot.S2C101: SPEED DATA INPUT FORMThis parameter specifies the units for speed data input and display.mm/s : in units of 0.1 mm/sec.cm/min : in units of 1cm/min.The specification can be set on the operating condition set display.2-18