Concurrent I/O•Parameter - Motoman

2.2 System Conform ParametersS2C254: DEVIATED POSITIONThis parameter specifies whether deviated position is to be robot current (reference) positionor feedback position.0: Return to the feedback position.1: Return to the current value (reference) position.FEEDBACKPOSITIONCURRENT VALUE(REFERENCE)POSITIONWhen emergency stop is applied during high-speed motion, the deviated position differs fromthe robot current value (reference) position and feedback position as shown in the following.EMERGENCY STOPS2C257 to S2C259: ROBOT INTERFERENCE CHECKThis parameter specifies whether to check interference between robots 1, 2, and 3. Interferencecheck is executed in the spherical range having the control point in the center. If “provided”is selected, also select the following parameters.S3C409S3C410S3C411ROBOT INTRF. CHECKin units of µmROBOT1 SPHERE RADIUSROBOT 2 SPHERE RADIUSROBOT3 SPHERE RADIUSS2C260: RELATIVE JOB OPERATION METHODThis parameter specifies how to operate a relative job. A conversion method to convert a relativejob into a standard job (pulse),and a conversion method to calculate the aimed position(pulse position) when a relative job is operated can be specified.S2C261: TOOL NO. SWITCHINGThis parameter specifies whether two number switching is permitted or not. If “PERMIT” isselected, 24 types of tools from number 0 to 23 switched. If “NOT PERMIT” is selected, onlynumber “0” can be used.0: Previous Step With Priority1: Form With PriorityS2C263: POSITION TEACHING BUZZERThis parameter specifies whether the buzzer sound at position teaching is used or not.2-31