Y-Axis Parameters - Yamaha DRCX User Manual

5-2 Parameter Description
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5-2-3 Y-axis parameters

PRM88: (+) soft limit
The + side robot movement range is set.
Set a suitable value for safety purposes.
Input range: -9999 to 9999 (mm)
or -360 to 360 (°)
Default value: Depends on robot type.
c
CAUTION
The soft limit will not work unless return-to-origin has been completed.
PRM89: (-) soft limit
The - side robot movement range is set.
Set a suitable value for safety purposes.
Input range: -9999 to 9999 (mm)
or -360 to 360 (°)
Default value: Depends on robot type.
c
CAUTION
The soft limit will not work unless return-to-origin has been completed.
PRM90: Payload
This specifies the total weight of the workpiece and tool attached to the Y-axis of a Multi-
Flip robot. In cases where this weight varies, enter the maximum payload.
Based on this parameter, the controller determines the optimum acceleration speed for the
robot, so ensure that the correct payload is set. If set too small, abnormal vibration or
overheat may occur resulting in troubles with the robot or controller. Conversely, if this
parameter is larger than the actual payload, a loss of the cycle time occurs which lowers
productivity.
Input range: Depends on robot type. Units are in kilograms (kg).
Default value: 0
* This parameter is set to maximum payload when the controller is shipped from factory.
PRM91: Acceleration
This parameter sets the acceleration.
The controller will automatically set optimum acceleration according to the robot type
and payload. Change this parameter when the acceleration is to be decreased beyond this
state.
Input range: 1 to 100 (%)
Default value: 100