Yamaha DRCX User Manual page 95

5-2 Parameter Description
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PRM73: Origin search data
This specifies the performance data for detecting the origin position during return-to-ori-
gin by the origin search method.
Default value: Depends on robot type.
PRM74: Open-circuit fault detection level
This parameter sets the sensitivity for detecting an open-circuit fault. The upper limit of
this parameter is 254. The sensitivity lowers as the parameter value increases. Leave this
parameter set to 255 if you want to disable this detection function.
Input range: 1 to 255
Default value: 255 (This function is disabled.)
PRM75: Not used
Default value: 0
PRM76: Not used
Default value: 0
PRM77: Origin shift
This parameter specifies a shift to the origin position after return-to-origin is complete.
When return-to-origin is complete, the origin position is usually "0" (specified value when
the mark method is used). If for some reason the origin position needs to be shifted by a
particular amount, then change this parameter. For example, if an unwanted position shift
occurred, then reteaching of all point data needs to be performed. However, the time and
effort needed for this reteaching can be eliminated by setting the shift amount for this
parameter to quickly correct the point data.
Input range: -9999 to 9999 (0.01mm)
or -9999 to 9999 (0.01°)
Default value: 0
* The parameter change is enabled after reperforming return-to-origin.
PRM78: QP band width
This parameter specifies the control switching point (pulse width) that compensates for
the frictional resistance during deceleration.
Input range: 1 to 1000 (pulses)
Default value: Depends on robot type.
PRM79: No. of motor poles
Default value: Depends on robot type.
PRM80: Feed forward gain
Default value: Depends on robot type.