Yamaha ERCX Series User Manual page 74

5-2 Parameter Description
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PRM4: Acceleration
This parameter sets the acceleration.
The controller will automatically set optimum acceleration according to the robot type
and payload. Change this parameter when the acceleration is to be decreased beyond this
state.
Input range: 1 to 100 (%)
Default value: 100
PRM5: Return-to-origin direction
This parameter sets the return-to-origin direction.
Return-to-origin is usually performed toward the motor side when this parameter is set to
0, and toward the non-motor side when set to 1. However, this direction may be reversed
depending on the robot variations (such as bent model and vertical type model).
Input range: 0 or 1
Default value: Depends on robot type.
* In terms of motor rotation, when this parameter is 0, the return-to-origin direction is
CCW (counterclockwise) as seen from the load.
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CAUTION
The return-to-origin direction cannot be changed in some robot types. Before attempting to change this
parameter for the robot you are using, be sure to read the robot mechanical manual or catalog specs to check
whether the return-to-origin direction can be changed.
PRM6: Positioning-completed pulse
This specifies the range in which the controller determines that positioning is complete.
When a movement command is executed, the robot moves toward the target position. The
controller then determines that the positioning has been completed when the remaining
distance to the target position is within this parameter setting. However, the robot contin-
ues moving until it reaches the target position even after the robot enters the "positioning-
completed pulse" range.
Since executing the next movement command is not allowed until the positioning is com-
plete, setting a large value for this parameter can reduce cycle time in cases where critical
positioning accuracy is not required.
Input range: 1 to 4000 (pulses)
Default value: 80
* If the range specified by this parameter is larger than the range of the OUT valid posi-
tion, the controller does not decide that the "positioning-completed pulse" range is en-
tered until the axis reaches the OUT valid position.
PRM7: I/O point movement command speed
This parameter is used when using the SRCA compatible mode. It is not used in normal
operation mode.
Input range: 0 to 100 (%)
Default value: 30