Yamaha DRCX User Manual page 81

5-2 Parameter Description
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6
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PRM6: I/O point movement command speed 2
This parameter specifies the movement speed (%) at which the robot moves when a point
movement command (ABS-PT, INC-PT) is executed.
When "type 3" (point teaching type) is selected by the I/O assignment setting, this param-
eter specifies the jog speed at which the robot moves at a jog movement command (JOG+,
JOG-).
This movement speed specified here is the speed used with DI10 turned OFF and DI11
turned ON.
When "type 2" (point number output type) or "type 3" (point teaching type) is selected by
the I/O assignment setting and the speed is changeable by SPD1 and SPD2, this parameter
specifies the speed when SPD1 is set to OFF and SPD2 is set to ON.
Input range: 1 to 100 (%)
Default value: 30
* The actual speed at which the robot moves with a point movement command (ABS-PT,
INC-PT) is the speed obtained by multiplying the execution speed displayed in AUTO
or STEP mode by this parameter. (Refer to "4-3-1 Program execution screen".)
For example, if the execution speed displayed in AUTO or STEP mode is 50 and this
parameter is set to 30, then the actual speed will be:
3000 rpm × (50/100) × (30/100) = 450rpm
(When PRM64 and PRM104 are set to 3000.)
* If this parameter is set to 30, then the jog speed will be:
100 × 30/100 = 30mm/sec.
PRM7: I/O point movement command speed 3
This parameter specifies the movement speed (%) at which the robot moves when a point
movement command (ABS-PT, INC-PT) is executed.
When "type 3" (point teaching type) is selected by the I/O assignment setting, this param-
eter specifies the jog speed at which the robot moves at a jog movement command (JOG+,
JOG-).
This movement speed specified here is the speed used with DI10 and DI11 turned ON.
When "type 2" (point number output type) or "type 3" (point teaching type) is selected by
the I/O assignment setting and the speed is changeable by SPD1 and SPD2, this parameter
specifies the speed when both SPD1 and SPD2 are set to ON.
Input range: 1 to 100 (%)
Default value: 70
* The actual speed at which the robot moves with a point movement command (ABS-PT,
INC-PT) is the speed obtained by multiplying the execution speed displayed in AUTO
or STEP mode by this parameter. (Refer to "4-3-1 Program execution screen".)
For example, if the execution speed displayed in AUTO or STEP mode is 50 and this
parameter is set to 70, then the actual speed will be:
3000 rpm × (50/100) × (70/100) = 1050rpm
(When PRM64 and PRM104 are set to 3000.)
* If this parameter is set to 70, then the jog speed will be:
100 × 70/100 = 70mm/sec.