Yamaha SRCP, User Manual

Page: 61 / 246

5-
3
5
PARAMETERS
5-2 Parameter Description
5-2 Parameter Description
The parameters are described in order below.
c
CAUTION
Parameters not displayed on the TPB screen are automatically set or optimized to match the robot type when the
robot parameters are initialized. You usually do not have to change these parameter settings.
If for some special reason you need to change or check these hidden parameters, use any of the following
methods.
• Turn on the power to the controller while holding down the ESC key on the TPB.
• Connect the TPB to the controller while holding down the ESC key on the TPB.
• Use the system utility mode that allows you to display hidden parameters. (See "10-5-1 Viewing hidden
parameters".)
Take extra caution when handling hidden parameters.
PRM0: Robot type number
This parameter shows the robot number currently used. (See "15-1-2 Robot number list".)
This is a read-only parameter. When changing the robot number or if the memory contents
are corrupted, perform parameter initialization. (See "10-1 Initialization".)
PRM1: (+) soft limit
The + side robot movement range is set.
Set a suitable value for safety purposes.
Input range: -9999 to 9999 (mm)
Default value: Depends on robot type.
c
CAUTION
The soft limit will not work unless return-to-origin has been completed.
PRM2: (-) soft limit
The - side robot movement range is set.
Set a suitable value for safety purposes.
Input range: -9999 to 9999 (mm)
Default value: Depends on robot type.
c
CAUTION
The soft limit will not work unless return-to-origin has been completed.