Yamaha DRCX User Manual page 99

5-2 Parameter Description
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PRM95: Origin detection method
This parameter is used to select the origin (reference point) detection method.
There are two methods for detecting the origin: search method and mark method. The
search method is further divided into the origin sensor method and stroke-end detection
method. In the mark method, you can move the robot to a desired position (mark position)
and set it as the particular coordinate position to determine a reference point.
Set this parameter to "0" when detecting the origin position with an origin sensor (sensor
method), or set to "1" when detecting the origin by the stroke-end detection method, or set
to "2" when using the mark method.
Input range: 0 to 2
Meaning: 0: Sensor method
1: Stroke-end detection method
2: Mark method
Default value: Depends on robot type.
c
CAUTION
When you are using a robot with this parameter set to "sensor method" by default, do not change it to "stroke-
end detection method". Failure to follow this instruction might damage the robot mechanical parts.
PRM96: OUT valid position
This specifies the range in which the controller determines that movement command is
complete.
When a movement command is executed, the robot moves toward the target position. The
controller then determines that the movement command has ended when the remaining
distance to the target position is within this parameter setting. The controller then initiates
the subsequent step processing when the robot reaches this OUT valid position, so setting
this parameter to a larger value can reduce cycle time.
However, if the subsequent command is a movement command, it is not executed until the
ongoing positioning is complete.
Input range: 0 to 9999 (mm)
0 to 360 (°)
Default value: 1
PRM97: Arch position
When moving the robot in an arch motion, this parameter sets how many millimeters
(degrees) prior to the Y-axis target position, to start X-axis movement. This parameter
determines a form of arch motion.
Input range : 0 to 9999 (mm)
Default value : 5
Y
w
0 to 360 (°)
X
In the above case, the Y-axis moves upward and the X-axis starts to
move at the remaining distance position w.
Then, when the X-axis reaches the remaining distance position q, the
Y-axis starts to move downward.
q
q
determined by PRM57
w
determined by PRM97