YASKAWA YRC1000micro

HW1484764
Variable List
8-1
HW1484764
8. Variable List
This chapter describes the D variables used by the various functions.
WARNING
The values of D variables 200 to 396 are parameters used by the avoidance and direct teach functions. Do not
use them for any other purpose. Doing so could result in an unexpected operation of the manipulator.
D variable
Variable name
Description
Default
Unit
Minimum
value
Maximum
value
200
HandG_JT_T_MAX_S
HG function - joint
mode
Maximum control
force for S-axis
200
ｘ0.1Nm
0
1000
201
HandG_JT_T_MAX_L
HG function - joint
mode
Maximum control
force for L-axis
400
ｘ0.1Nm
0
1000
202
HandG_JT_T_MAX_U
HG function - joint
mode
Maximum control
force for U-axis
300
ｘ0.1Nm
0
1000
203
HandG_JT_T_MAX_R
HG function - joint
mode
Maximum control
force for R-axis
50
ｘ0.1Nm
0
1000
204
HandG_JT_T_MAX_B
HG function - joint
mode
Maximum control
force for B-axis
50
ｘ0.1Nm
0
1000
205
HandG_JT_T_MAX_T
HG function - joint
mode
Maximum control
force for T-axis
15
ｘ0.1Nm
0
1000
206
HandG_JT_T_MAX_E
HG function - joint
mode
Maximum control
force for E-axis
0
ｘ0.1Nm
0
1000
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