5-452
Movement parameter
5Functions set with parameters
Specification of the
end conditions of
an operation com-
mand when Cnt
command is invalid
MVTERM
Integer 1
Specifies the end conditions of an operation command when Cnt
command is invalid.
For the F series (RV-2F/2FL and RH-3FHR are excluded), the
completion conditions for movement instructions have been
changed in order to achieve higher target position attainability
performance when Cnt is set to 0. The operation time may
become longer when a program created by any model earlier
than the F series (SD/SQ series) is used by the F series (RV-2F/
2FL and RH-3FHR are excluded) as it is. When priority is given
to the operation speed, change this parameter and use the Fine
P or Dly instruction, etc., for positions that require positioning.
0: speed command output is completed
1: corresponds to Cnt 1
2: speed command generation is completed
0: F series
(RV-2F/2FL and RH-
3FHR are excluded.)
2: RV-2F/2FL, RH-
3FHR, SD/SQ
series
Safe point return
mode
ESCMODE
Integer 1
Choose tool defining position or mechanical interface origin posi-
tion as a current position when returning the safe point.
0: set to TCP position (tool defining position)
1: set to mechanical interface origin position
0
Controller CPU
drive mode
DRVMODE
Integer 1
Specifies whether the connection with a robot is required or not
when simulating by a software.
In F-Q series, specifies whether the connection with a drive unit
is required or not.
0: Normal mode
(Connection with robot or drive unit is required.)
1: Robot servo separation mode
(Connection with robot or drive unit is not required.)
0
Feedback gain
adjustment coeffi-
cient
*Available soft-
ware versions
S/W Ver.
F-Q series:
R6h or later
F-D series:
S6h or later
FBGAIN
Integer 8
Adjusts the speed loop gain for each joint axis.
Unit: [%]
Setting range: 50 to 150
Setting a smaller value suppresses the motor oscillation or the
disturbance influence on driving units.
By setting a larger value, the trajectory accuracy or the settling
time will be improved, and yet the motor may oscillate. Increase
the value gradually while checking the condition.
100, 100, 100, 100,
100, 100, 100, 100
Servo simulation
function
SRVSIM
Integer 1
Specifies enable/disable of the load factor simulation for the RT
ToolBox2 simulation.
0: Disable
1: Enable
1
Vision sensor cali-
bration data
VSCALBn
n=1 to 8
Integer 12
Stores the vision sensor calibration data defined in the 2D vision
calibration function of RT ToolBox2.
Corresponds to 8 calibration data of the calibration numbers n=1
to 8.
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0
Parameter
Parameter
name
No. of arrays
No. of characters
Details explanation
Factory setting
