Yamaha TS-P User Manual page 80

Yamaha single-axis robot controller
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3.4 Parameter data
K15
1
Function
Specifies the coordinate system polarity.
Settings
Setting Value
2
K16
3
Function
Specifies the coordinates of the return-to-origin end position.
• Speed switch
4
K17
Function
Enables/disables the speed switch function.
5
Settings
Settings
6
This function is available from controller's software version 1.06.111 onwards. This
parameter can be changed from the HT1 with software version 1.09 onwards and the
CAUTION
TS-Manager with software version 1.2.1 onwards.
7
Refer to "5.3.8 Speed switch function" in Chapter 5 for more details.
NOTE
K18
Function
Specifies the speed to be used after "Speed switch" has been performed. The
maximum speed to be used by the speed switch function will be calculated by
multiplying the current maximum speed by the value set in this parameter.
This function is available from controller's software version 1.06.111 onwards. The
parameter can be changed by the HT1 with the software version 1.09 onwards and by
CAUTION
the TS-Manager with the software version 1.2.1 onwards.
Refer to "5.3.8 Speed switch function" in Chapter 5 for more details.
NOTE
3-14
Chapter 3 Data setting
Origin Coordi.
Standard (Plus-polarity is opposite direction from return-to-origin
0
direction.)
1
Reverse (Plus-polarity is same direction as return-to-origin direction)
Origin shift
Speed switch function
Description
0
Disable
1
Enable
Switched speed
Setting Range
0 to 1
Description
Setting Range
-9999.999 to 9999.999
Setting Range
0 to 1
Setting Range
1 to 100
Default
Units
Restart
0
-
-
Default
Units
Restart
0.000
mm
-
Default
Units
Restart
0
-
-
Default
Units
Restart
10
-

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