Yamaha SRCP Parameter Description, PRM0 Robot type number, PRM1 + soft limit, PRM2 soft limit

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.

5

PARAMETERS

5-3