8 Parameter8.3 Mode Operation Setting Parameters8-12149235-1CDRE-CSO-A031 S2C150: EXECUTION UNITS AT “FORWARD” OPERATIONThis parameter specifies the execution units at step mode of “FORWARD” operation by theprogramming pendant. S2C151: INSTRUCTION (EXCEPT FOR MOVE) EXECUTION AT“FORWARD” OPERATIONThis parameter specifies the method of instruction (except for move) execution at “FORWARD”operation by the programming pendant. S2C155: CHANGING STEP ONLYThis parameter specifies whether to permit only step changes in an editing-prohibited job. Whenpermitted, only position data can be changed but additional data such as speed cannot be changed.This specification can be done on the TEACHING CONDITION window. S2C156: MANUAL SPEED STORING FOR EACH COORDINATEThis parameter specifies whether to assign different manual speeds for the joint coordinates and othercoordinates. If “NOT STORED” is selected, manual speed is not affected by changing the coordinates.If “STORED” is selected, manual speeds can be selected separately for the joint coordinates and othercoordinates.Parameter SettingValue Operation Units0MOVLDOUTTIMERDOUTMOVLStops at every instruction1MOVLDOUTTIMERDOUTMOVLStops at move instruction0: Executed by pressing [FWD] + [INTERLOCK]1: Executed by pressing [FWD] only2: Instruction not executed0: Permitted1: Prohibited0: Not stored1: Stored301 of 493
