Yamaha ERCX Series, User Manual

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5-
8
5
PARAMETERS
5-2 Parameter Description
PRM23: Payload-dependent acceleration coefficient
The value calculated from PRM0, PRM12 and PRM3 is set automatically for this param-
eter.
Default value: Depends on robot type.
PRM24: Teaching count data (TPB entry)
This is entered in the TPB and cannot be used.
Default value: 0
PRM25: Not used
Default value: 0
PRM26: Teaching movement data
This parameter is used during movement with a communication command @X+ or @XINC.
This is also used for point teaching playback.
Input range: 1 to 100 (%)
Default value: 100
PRM27: Teaching movement data 1 (for TPB)
This is entered in the TPB and cannot be used.
Input range: 1 to 100 (%)
Default value: 100
* The TPB writes the contents of PRM27 into PRM26 when connected to the controller.
PRM28: Teaching movement data 2 (for TPB)
This is entered in the TPB and cannot be used.
Input range: 1 to 100 (%)
Default value: 50
PRM29: Teaching movement data 3 (for TPB)
This is entered in the TPB and cannot be used.
Input range: 1 to 100 (%)
Default value: 10
PRM30: Maximum program speed
The speed data defined by the MOVA, MOVI and MOVM statements in a program is
multiplied by this parameter value to determine the maximum speed at which the robot
actually moves. This is used to lower the speed of the overall program. When the TPB is
used, any speed changes in the AUTO and STEP modes will also change this parameter
value.
Max. speed (%) = PRM30
×
speed operand (%) of movement command / 100
Input range: 1 to 100 (%)
Default value: 100