Yamaha ERCX Series User Manual page 85

PRM49: Controller version 1
This parameter reads out the version information (1) on the control software in the con-
troller.
This is a read-only parameter.
PRM50: Deceleration (Available with Ver. 13.33 or later)
Use this parameter to reduce only the deceleration.
When this parameter is left set to the default value (100), the deceleration is the same as
the acceleration. If vibration occurs during positioning, then set this parameter to a smaller
value to reduce only the deceleration.
This parameter value can be changed in 1% steps, with 100% equal to the value deter-
mined by PRM4.
Input range: 1 to 100 (%)
Default value: 100
PRM51: Lead program number (Available with Ver. 13.50 or later)
This parameter sets the lead program number.
Default value: 0
n
NOTE
The lead program is the program that has been selected as the execution program by the TPB or POPCOM. (See
"9-4 Switching the Execution Program".)
The lead program can also be selected by executing a communication command "@SWI". It may also be switched
when the program data is loaded into the controller from the memory card.
PRM52: Hold gain (Available with Ver. 13.50 or later)
Default value: Depends on the robot.
5-2 Parameter Description
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