Yamaha ERCX Series User Manual page 75

PRM8: No. of conditional input points
This parameter specifies the number of effective points for the third data conditional input
for executing the JMPF statement of the robot language.
For example, when the default setting is selected for this parameter, the four points from
DI0 to DI3 are used as the conditional inputs for the JMPF statement.
Input range: 1 to 8 (points)
Default value: 4
No. of conditional input points versus general-purpose input and setting range
No. of conditional input points
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PRM9: MOVF speed
This sets the speed at which the robot moves when the program language MOVF state-
ment is executed.
Input range: 1 to 10000 (mm/sec)
Default value: 10
PRM10: Return-to-origin speed
This specifies the movement speed during return- to-origin.
Input range: 1 to 100 (mm/sec)
Default value: 20
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CAUTION
When the return-to-origin speed is increased, an alarm might be issued during return-to-origin depending on
the robot type. We recommend using the default value as much as possible.
PRM11: No. of encoder pulses (4✕ mode)
This parameter sets the number of signal pulses (resolver resolution) per one turn of the
motor.
Default value: 16384 (pulse/rev.)
PRM12: Lead length
This parameter sets the robot lead length (distance the robot moves while the motor makes
one turn). For rotational type robots such as the FROP, this parameter is set to an angle
through which the robot rotates while the motor makes one turn.
Default value: Depends on robot type. (Unit: 0.01mm or 0.01deg.)
General-purpose input
DI0
DI0 to DI1
DI0 to DI2
DI0 to DI3
DI0 to DI4
DI0 to DI5
DI0 to DI6
DI0 to DI7
5-2 Parameter Description
Setting range
0 to 1
0 to 3
0 to 7
0 to 15
0 to 31
0 to 63
0 to 127
0 to 255
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