Yamaha DRCX User Manual page 93

5-2 Parameter Description
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PRM58: Auxiliary axis stroke
Default value: Depends on robot type.
PRM59: 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.)
PRM60: 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.)
PRM61: Overload current
This sets the reference current value used to detect an overload.
Default value: Equal to the motor rated current.
PRM62: 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 (PRM61) flows for a period of 3 seconds or an equivalent
condition is detected.
Default value: 240
PRM63: Current limit
This sets the maximum motor input current.
Default value: Depends on robot type.
PRM64: Maximum speed setting
This parameter sets the maximum motor revolution speed.
Input range: 1 to 4500 (rpm)
Default value: Depends on robot type.
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CAUTION
Changing this parameter carelessly might shorten the robot service life or cause other problems.
PRM65: Speed proportional gain
This sets the speed control gain. Typically, PRM65 and PRM66 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.