Yamaha SRCP - Page 70

5-12
5
PARAMETERS
5-2 Parameter Description
PRM41: I/O point movement command speed 1
This parameter sets the speed at which the robot moves when a point movement command
(ABS-PT, INC-PT) is executed. The speed set here is the movement speed used in normal
mode (SERVICE mode disabled) with PRM7set to 0, DI6 turned on and DI7 turned off.
Input range: 1 to 100 (%)
Default value: 10
* The actual speed is the speed obtained by multiplying the execution speed displayed on
the AUTO or STEP mode by this parameter (see "4-3-1 Program execution screen").
Example: When the execution speed displayed in AUTO or STEP mode is 50 and
this parameter is set to 10, the actual speed will be
2000mm/sec. × (50/100) × (10/100) = 100mm/sec. (when PRM44=2000)
PRM42: I/O point movement command speed 2
This parameter sets the speed at which the robot moves when a point movement command
(ABS-PT, INC-PT) is executed. The speed set here is the movement speed used in normal
mode (SERVICE mode disabled) with PRM7 set to 0, DI6 turned off and DI7 turned on.
Input range: 1 to 100 (%)
Default value: 30
* The actual speed is the speed obtained by multiplying the execution speed displayed on
the AUTO or STEP mode by this parameter (see "4-3-1 Program execution screen").
Example: When the execution speed display in the AUTO or STEP mode is 50 and
this parameter is set to 30, the actual speed will be
2000mm/sec. × (50/100) × (30/100) = 300mm/sec. (when PRM44=2000)
PRM43: I/O point movement command speed 3
This parameter sets the speed at which the robot moves when a point movement command
(ABS-PT, INC-PT) is executed. The speed set here is the movement speed used in normal
mode (SERVICE mode disabled) with PRM7 set to 0, DI6 turned on and DI7 turned on.
Input range: 1 to 100 (%)
Default value: 70
* The actual speed is the speed obtained by multiplying the execution speed displayed on
the AUTO or STEP mode by this parameter (see "4-3-1 Program execution screen").
Example: When the execution speed display in the AUTO or STEP mode is 50 and
this parameter is set to 70, the actual speed will be
2000mm/sec. × (50/100) × (70/100) =700mm/sec. (when PRM44=2000)
PRM44: Maximum speed setting
This parameter sets the maximum robot speed.
Input range: 1 to 2500 (mm/sec.)
Default value: Depends on robot type.
c
CAUTION
Changing this parameter carelessly might shorten the robot service life or cause other problems.
PRM45: Feed forward gain
Default value: Depends on robot type.