Parameter Setting; Setting Run Parameters - Yamaha TS-S User Manual

5. Parameter setting
The HT1 allows you to set parameters needed for robot operation.
For detailed information and the setting range of each parameter, refer to the "Controller Guide", Chapter 3,
section 4, "Parameter data".
c
CAutIoN
Before editing data, always make sure that the robot is stopped. Editing data while the robot is moving might
cause problems with operation.
5.1
This section describes how to set a Run parameter using "Soft limit (+)" as an example. Basically, other RUN
parameters can also be set in the same manner.
n
NOTE
Power must be turned off and then back on to
enable changes made to Run parameters.
On the main menu screen, select
1
"Parameter".
The "Parameter" menu screen opens showing
selectable parameter groups.
Move the cursor to "Run
2
parameter" and press
The currently set Run parameters are
displayed.
Pressing
display page. When the cursor is on the
bottom row of the screen, pressing
to the next page.
Move the cursor to the parameter
3
A
you want to change and press
The value of the selected parameter can
now be changed.
Change the parameter value.
4
For instructions on how to change numerical
values, refer to section 3.4, "How to enter
numbers".
5 Press
The cursor returns to the previous state. If
you want to set another Run parameter,
repeat steps 3 to 5.
6 Press
This returns to the "Parameter" menu screen.
A-22
Setting Run parameters
or switches the parameter
to enable the change.
.
CLR
Step 2
.
scrolls
24A22-M0-00
.
24A23-M0-00
Step 3
"Run parameter"
Parameter NRM [01]
Run parameter
I/O parameter
Option parameter
Servo parameter
Run parameter NRM [01]
Soft limit(-) 0.00 mm
Soft limit(+) 150.00 mm
In-position 0.01 mm
Push mode 0 -
Push time 10 ms
Push speed 10.00 mm/s
Zone(-) 0.00 mm
Changing parameter value
Run parameter NRM [01]
Soft limit(-) 0.00
Soft limit(+) 150.00
In-position 0.01
Push mode 0
Push time 10
Push speed 10.00
Zone(-) 0.00
[01]
Soft limit(-) 0.00
Soft limit(+) 150.00
In-position 0.01
Push mode 0
Push time 10
Push speed 10.00
Zone(-) 0.00
mm
mm
mm
-
ms
mm/s
mm
mm
mm
mm
-
ms
mm/s
mm