Yamaha ERCX Series, User Manual

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5-
14
5
PARAMETERS
5-2 Parameter Description
PRM44: Maximum speed setting
This parameter sets the maximum motor revolution speed.
Input range: 1 to 4500 (rpm)
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.
PRM46: Servo status output
This parameter selects whether to output the axis servo status as a general-purpose output.
When this parameter is set to 1, DO7 turns on and off along with servo on/off.
Input range: 0 or 1
Meaning: 0: Does not output the servo status.
1: Outputs the servo status.
Default value: 0
* When this parameter is set to 1, DO7 is not affected by program reset (in other words,
DO7 does not turn off even when the program is reset).
PRM47: Communication parameter setting
This sets communication parameters used for data transmission through RS-232C. For
more details, see "11-1 Communication Parameter Specifications".
Default value: 0
PRM48: Pre-operation action selection
This parameter checks whether return-to-origin has been performed or resets the program
before running automatic operation or step operation.
When set to 0 or 2, an error (return-to-origin incomplete) is issued if return-to-origin has
not been performed and automatic operation and step operation are not accepted.
When set to 1 or 3, the program runs even when return-to-origin has not been performed.
However, an error (return-to-origin incomplete) is issued when a movement command
(MOVA, etc.) is executed if return-to-origin is still incomplete. To avoid this, perform
return-to-origin in advance or insert the ORGN command into the program.
Input range: 0 to 3
Meaning: 0: Checks whether return-to-origin has been performed.
1: Nothing is executed.
2: Resets the program after checking return-to-origin.
3: Resets the program.
Default value: 1
* When set to 2 or 3, the program is reset only during automatic operation. (The program
is not reset during step operation.)