Yamaha DRCX User Manual page 96

PRM81: Deceleration (Available with Ver. 18.25 or later)
Use this parameter to reduce only the deceleration.
When this parameter is left set to the default value (100), the deceleration is the same as
the acceleration. If vibration occurs during positioning, then set this parameter to a smaller
value to reduce only the deceleration.
This parameter value can be changed in 1% steps, with 100% equal to the value deter-
mined by PRM51.
Input range:
Default value: 100
PRM82: Hold gain (Available with Ver. 18.50 or later)
Default value: Depends on the robot.
PRM83: Not used
Default value: 0
PRM84: Not used
Default value: 0
PRM85: Not used
Default value: Depends on robot type.
c
CAUTION
Do not change the setting.
PRM86 to 87: Spare
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1 to 100 (%)
5-2 Parameter Description
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