Yamaha SRCP User Manual download pdf (Page 27)

5 -3

Parameters

5-3 Parameter description

This section describes parameters required for operation in pulse train mode.

• For other parameters not listed below, refer to "5-2 Parameter description" in the SRCP

controller user's manual.

• The shaded PRM (parameter) numbers are hidden parameters and usually cannot be

displayed on the TPB. See "10-5-1 Viewing hidden parameters" in the SRCP controller

user's manual for information on how to write and display these parameters.

■ Return-to-origin parameters

PRM5 Return-to-origin direction

0 to 1 – –

Input range Default value Unit

Set the return-to-origin direction in which the robot moves with an ORG-S input.

Setting value PHASER Series FLIP-X Series

L side

R side

Motor side

Motor opposite side

PRM10 Return-to-origin speed

1 to 100 20 mm/s

Input range Default value Unit

Sets the movement speed during return-to-origin with an ORG-S input.

* An alarm might trigger on some robots during return-to-origin if the return-to-origin

speed was raised. Use the initial settings as much as possible.

■ Operation adjustment parameters

PRM6

Positioning completed pulse

1 to 4000 80 Pulse

Input range Default value Unit

• The in-position (IN-POS) output turns ON when pulses accumulated in the deviation

counter are within the ± setting value. The positioning completed pulse exerts no effect

on the final positioning precision.

PRM17

PRM18

Speed proportional gain

Speed integration gain

Input range Default value Unit

––

–

These parameters set the response of the speed control system.

• The default value varies with each robot but the ratio of PRM17 to PRM18 is 3 : 2.

* Each YAMAHA single-axis series robot is set at the factory with its own optimal charac-

teristic gain parameter as the default. In the event that the gain must be adjusted to

improve work throughput, we recommend adjusting the position control system gain

parameter. However, use plenty of caution since an extreme gain setting will trigger

alarms and cause breakdowns.

PRM19 Position proportional gain

Input range Default value Unit

–––

Sets the response of the position control system.

• The default value varies with each robot. A value optimized for the maximum allowable

load of each robot is registered.

• Generally input a value between the default value and 128.

PRM45 Feed forward gain

Input range Default value Unit

–0–

Sets the feed forward gain of the position control system,

• Enter 2560 when using 100% of feed forward.

• Using feed forward gain improves the response. However, this has little effect on robots

already having sufficiently high position proportional gain. Also, setting a high value

may cause machine vibrations. Do not enter a value higher than 2000.

5-3 Parameter description

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Yamaha SRCP User Manual Page 27

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