Yamaha TS-S, User Manual

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3
Data setting
3-9
4. Parameter data
The 4 types of parameter data are shown below.
Type Description
RUN parameter
These parameters are required for robot operation, and they include "soft limit" and "zone"
settings.
I/O parameter These parameters are for terminal assignment and I/O functions.
Option parameter
These parameters are for optional settings (CC-Link and DeviceNet, etc.), and include the "node
No." and "baud rate" settings.
Servo parameter
These parameters are robot-specific parameters, and they include "encoder pulse count",
"gain", "rating", and "max. current" settings.
4.1 Parameter list
At the initializing routine, all parameters are set to their default values in accordance with the specifications of
the selected robot and the payload. The following list shows the parameter setting ranges and default settings.
n
NOTE
For details regarding parameters see section 4.2, "Parameter details".
4.1.1 RUN parameters
• Positioning
No. Name Setting / Setting Range Units
*
Default Restart
1 (-) soft limit
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999
mm
Other than TS-P : 0.00
TS-P : 0.000
-
2 (+) soft limit
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999
mm Depends on robot type -
3 In-position
Other than TS-P : 0.01 to 1.00
TS-P : 0.001 to 1.000
mm
Other than TS-P : 0.01
TS-P : 0.001
-
4 Push mode
0: Continue push after judgment, no push failure judgment
1: Positioning after judgment, no push failure judgment
2: Continue push after judgment, with push failure judgment
3: Positioning after judgment, with push failure judgment
- 0 -
5 Push judge time 1 to 60000 ms 10 -
6 Push speed 0.01 to 20.00 mm/s Depends on robot type -
7 Zone (-)
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999
mm
Other than TS-P : 0.00
TS-P : 0.000
-
8 Zone (+)
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999
mm
Other than TS-P : 0.00
TS-P : 0.000
-
9 Speed override 1 to 100 % 100 -
10 JOG speed 1 to 100 % 100 -
11 Inching width
Other than TS-P : 0.01 to 1.00
TS-P : 0.001 to 1.000
mm
Other than TS-P : 1.00
TS-P : 1.000
-
12 MOVE output level 0.01 to 100.00 mm/s 0.01 -
* Depending on the robot model, the point data system-of-units which appears in the User's Manual and support tools may differ
from the actual system-of-units.
• Return-to-origin
No. Name Setting / Setting Range Units
*
Default Restart
13 Origin speed 0.01 to 100.00 mm/s Depends on robot type -
14 Origin dir. 0: CCW direction; 1: CW direction - Depends on robot type -
15 Origin coordi. 0: Standard; 1: Reversed - 0 -
16 Origin shift
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999
mm
Other than TS-P : 0.00
TS-P : 0.000
-
* Depending on the robot model, the point data system-of-units which appears in the User's Manual and support tools may differ
from the actual system-of-units.