Yamaha ERCX Series User Manual page 81

Bit 3: Voltage check setting for system backup battery
This selects whether to check the system backup battery voltage when the control-
ler servo is turned on.
In such cases where you want to operate the robot immediately even when the
battery needs to be replaced, you can temporarily disable this voltage check.
(System backup batteries are located inside the controller and used to back up the
parameters and point data.)
Bit 4: Absolute backup function setting
This selects whether to enable or disable the absolute backup function.
Normally, this is set to "enable" and a battery for absolute backup is required. If set
to "disable", the controller can be operated without using an absolute backup bat-
tery.
When set to "enable", the robot position is maintained even after the power is turned
off. When set to "disable", however, the origin position will be incomplete each
time the power is turned off.
Bit 7: END output sequence setting at command execution completion
(supported by Ver. 13.74 and later versions):
This selects the END output sequence at dedicated command completion.
With the standard setting ("0"), the command's execution result is output to the
END output when the command is completed. When set to "1", the command's
execution result is output to the END output when the command is completed, but
only after the command signal turns off.
PRM35: Origin shift
This parameter specifies a shift to the origin position after return-to-origin is complete.
When return-to-origin is complete, the origin position is usually "0" (specified value when
the mark method is used). If for some reason the origin position needs to be shifted by a
particular amount, then change this parameter. For example, if an unwanted position shift
occurred, then reteaching of all point data needs to be performed. However, the time and
effort needed for this reteaching can be eliminated by setting the shift amount for this
parameter to quickly correct the point data.
Input range: -9999 to 9999 (0.01mm)
or -9999 to 9999 (0.01°)
Default value: 0
* The parameter change is enabled after reperforming return-to-origin.
PRM36: Origin search data
This specifies the performance data for detecting the origin position during return-to-ori-
gin by the origin search method.
Default value: Depends on robot type.
PRM37: QP band width
This parameter specifies the control switching point (pulse width) that compensates for
the frictional resistance during deceleration.
Input range: 1 to 1000 (pulses)
Default value: Depends on robot type.
PRM38: Speed delay compensation gain
Default value: Depends on robot type.
5-2 Parameter Description
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