Parameter Description - Yamaha ERCX Series User Manual

5-2

Parameter Description

The parameters are described in order below.
c
CAUTION
Parameters not displayed on the TPB screen are automatically set or optimized to match the robot type when the
robot parameters are initialized. You usually do not have to change these parameter settings.
If for some special reason you need to change or check these hidden parameters, use any of the following
methods.
• Turn on the power to the controller while holding down the
• Connect the TPB to the controller while holding down the
• Use the system utility mode that allows you to display hidden parameters. (See "10-5-1 Viewing hidden
parameters".)
Take extra caution when handling hidden parameters.
PRM0: Robot type number
This parameter shows the robot number currently used. (See "15-1-2 Robot number list".)
This is a read-only parameter. When changing the robot number or if the memory contents
are corrupted, perform parameter initialization. (See "10-1 Initialization".)
PRM1: (+) soft limit
The + side robot movement range is set.
Set a suitable value for safety purposes.
Input range: -9999 to 9999 (mm)
or -360 to 360 (°)
Default value: Depends on robot type.
c
CAUTION
The soft limit will not work unless return-to-origin has been completed.
PRM2: (-) soft limit
The - side robot movement range is set.
Set a suitable value for safety purposes.
Input range: -9999 to 9999 (mm)
or -360 to 360 (°)
Default value: Depends on robot type.
c
CAUTION
The soft limit will not work unless return-to-origin has been completed.
PRM3: Payload
This specifies the total weight of the workpiece and tool attached to the robot. In cases
where this weight varies, enter the maximum payload.
Based on this parameter, the controller determines the optimum acceleration speed for the
robot, so ensure that the correct payload is set. If set too small, abnormal vibration or
overheat may occur resulting in troubles with the robot or controller. Conversely, if this
parameter is larger than the actual payload, a loss of the cycle time occurs which lowers
productivity.
Input range: Depends on robot type. Units are in kilograms (kg).
Default value: 0
* This parameter is set to maximum payload when the controller is shipped from factory.
5-2 Parameter Description
ESC key on the TPB.
key on the TPB.
ESC
5
3
5-