Yamaha TS-S, User Manual

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A
ht
1
o
peration Guide
A-22
5. Parameter setting
The HT1 allows you to set parameters needed for robot operation.
For detailed information and the setting range of each parameter, refer to the "Controller Guide", Chapter 3,
section 4, "Parameter data".
c
CAutIoN
Before editing data, always make sure that the robot is stopped. Editing data while the robot is moving might
cause problems with operation.
5.1 Setting Run parameters
This section describes how to set a Run parameter using "Soft limit (+)" as an example. Basically, other RUN
parameters can also be set in the same manner.
n
NOTE
Power must be turned off and then back on to
enable changes made to Run parameters.
1
On the main menu screen, select
"Parameter".
The "Parameter" menu screen opens showing
selectable parameter groups.
2
Move the cursor to "Run
parameter" and press .
The currently set Run parameters are
displayed.
Pressing
or switches the parameter
display page. When the cursor is on the
bottom row of the screen, pressing
scrolls
to the next page.
Run parameter
I/O parameter
Option parameter
Servo parameter
Parameter NRM [01]
Soft limit(-)
Soft limit(+)
In-position
Push mode
Push time
Push speed
Zone(-)
0.00
150.00
0.01
0
10
10.00
0.00
mm
mm
mm
-
ms
mm/s
mm
Run parameter NRM [01]
"Run parameter"
Step 2
24A22-M0-00
3
Move the cursor to the parameter
you want to change and press
.
The value of the selected parameter can
now be changed.
Soft limit(-)
Soft limit(+)
In-position
Push mode
Push time
Push speed
Zone(-)
0.00
150.00
0.01
0
10
10.00
0.00
mm
mm
mm
-
ms
mm/s
mm
Run parameter NRM [01]
Soft limit(-)
Soft limit(+)
In-position
Push mode
Push time
Push speed
Zone(-)
0.00
150.00
0.01
0
10
10.00
0.00 mm
mm
mm
-
ms
mm/s
mm
[01]
Changing parameter value
Step 3
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4
Change the parameter value.
For instructions on how to change numerical
values, refer to section 3.4, "How to enter
numbers".
5 Press to enable the change.
The cursor returns to the previous state. If
you want to set another Run parameter,
repeat steps 3 to 5.
6 Press
CLR
.
This returns to the "Parameter" menu screen.