Parameter List - Yamaha RCX240 User Manual

12.1.2

Parameter list

■ Robot parameters
No. Name
1 Tip weight Tip weight [kg]
Return-to-origin
2 Origin sequence
sequence
R-axis direction
*1
3 R axis orientation
retention
Arm type at
*1
4 Armtype at PGM reset ARMTYP
program reset
*1 Only available for SCARA robots.
■ Axis parameters
No. Name
Acceleration
1 Accel. coefficient [%]
coefficient
2 Deceleration rate Decel. rate [%]
3 + software limit +Soft limit [pulse]
4 - software limit -Soft limit [pulse]
5 Tolerance Tolerance [pulse]
OUT effective
6 OUT position [pulse]
position
7 Arch position Arch position [pulse]
Return-to-origin
8 Origin speed [pulse/ms] ORGSPD
speed
Acceleration during
9 Manual accel [%]
manual mode
Origin position
10 Origin shift [pulse]
shift
11 Arm length Arm length [mm]
12 Offset pulse Offset pulse
13 Axis tip weight Axis tip weight [kg]
Return-to-origin
14 Origin method
method
Return-to-origin
15 Origin direction
direction
Robot movement
16 Motor direction
direction
Displayed name Identifier
WEIGHT
ORIGIN
RORIEN
Displayed name Identifier
ACCEL
DECRAT
PLMT+
PLMT-
TOLE
OUTPOS
ARCH
MANACC
SHIFT
ARMLEN
OFFSET
AXSTIP
ORGSNS
ORGDIR
MOTDIR
12. "SYSTEM" mode
Setting range
Unit
[Default setting]
0 to 200 [Robot type] kg
0 to 654321 [312456] –
KEEP, FREE [KEEP] –
RIGHTY, LEFTY
–
[RIGHTY]
Setting range
Unit
[Default setting]
1 to 100 [100] %
1 to 100 %
-6144000 to +6144000
pulse
[Robot type]
-6144000 to +6144000
pulse
[Robot type]
1 or more [Robot type] pulse
1 to 6144000
pulse
[Robot type]
1 to 6144000
pulse
[Robot type]
1 or more [Robot type] pulse/ms
1 to 100 [100] %
-6144000 to +6144000
pulse
[0]
0 to 10000 [Robot type] mm
-6144000 to +6144000
pulse
[Robot type]
0 or more [Robot type] kg
SENSOR, TORQUE,
–
MARK [Robot type]
---, +++
–
[Robot type]
---, +++
–
[Robot type]
Chapter 4 OPERATION
1
Reference
page
4-191
2
4-192
4-193
4-194
3
Reference
page
4
4-196
4-197
4-198
5
4-198
4-200
4-201
4-202
6
4-204
4-205
7
4-206
4-207
4-208
4-209
8
4-210
4-211
4-212
9
10
4-187