Yamaha ERCX Series User Manual page 76

5-2 Parameter Description
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PRM13: Origin detection method
This parameter is used to select the origin (reference point) detection method.
There are two methods for detecting the origin: search method and mark method. The
search method is further divided into the origin sensor method and stroke-end detection
method. In the mark method, you can move the robot to a desired position (mark position)
and set it as the particular coordinate position to determine a reference point.
Set this parameter to "0" when detecting the origin position with an origin sensor (sensor
method), or set to "1" when detecting the origin by the stroke-end detection method, or set
to "2" when using the mark method.
Input range: 0 to 2
Meaning: 0: Sensor method (Cannot be used with ERCX)
1: Stroke-end detection method
2: Mark method
Default value: Depends on robot type.
c
CAUTION
The ERCX does not support the sensor method for return-to-origin.
PRM14: Overload current
This sets the reference current value used to detect an overload.
Default value: Equal to the motor rated current.
PRM15: Overload time
This specifies conditions such as time required to detect an overload.
The default value is set so that an overload alarm is issued when a current three times
higher than the overload current (PRM14) flows for a period of 3 seconds or an equivalent
condition is detected.
Default value: 240
PRM16: Current limit
This sets the maximum motor input current.
Default value: Depends on robot type.
PRM17: Speed proportional gain
This sets the speed control gain. Typically, PRM17 and PRM18 should be input at a ratio
of 3 : 2.
Generally, the larger the gain, the higher the acceleration will be. However, if the gain is
set too high, abnormal oscillation or noise might be generated, causing serious problems
in the robot and controller. Use caution when selecting this parameter to avoid such prob-
lems.
Default value: Depends on robot type.