Yamaha SRCP manual PRM3 Payload, PRM4 Acceleration, PRM5 Return-to-origin direction

5-2 Parameter Description

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PARAMETERS

PRM3: Payload

This specifies the total weight of the workpiece and tool attached to the robot. In cases where this weight varies, enter the maximum payload.

Based on this parameter, the controller determines the optimum acceleration speed for the robot, so ensure that the correct payload is set. If set too small, abnormal vibration or overheat may occur resulting in troubles with the robot or controller. Conversely, if this parameter is larger than the actual payload, a loss of the cycle time occurs which lowers productivity.

Input range:	Depends on robot type. Units are in kilograms (kg).
Default value:	0

* This parameter is set to maximum payload when the controller is shipped from factory.

PRM4: Acceleration

This parameter sets the acceleration.

The controller will automatically set optimum acceleration according to the robot type and payload. If you want to increase the initial acceleration setting, manually enter the proper value by referring to the robot user's manual.

Input range:	1 to 200 (%)
Default value:	100

c CAUTION

If acceleration is too rapid, problems such as abnormal vibrations and reduced service life of the robot might result.

PRM5: Return-to-origin direction

This parameter sets the return-to-origin direction.

Normally, return-to-origin is performed toward the L side when this parameter is set to 1, and toward the R side when set to 1. (See our robot product catalog to check the L and R sides.)

Input range:	0 or 1
Default value:	Depends on robot type.

PRM6: Positioning-completed pulse

This specifies the range in which the controller determines that positioning is complete. When a movement command is executed, the robot moves toward the target position. The controller then determines that the positioning has been completed when the remaining distance to the target position is within this parameter setting. However, the robot contin- ues moving until it reaches the target position even after the robot enters the "positioning- completed pulse" range.

Since executing the next movement command is not allowed until the positioning is com- plete, setting a large value for this parameter can reduce cycle time in cases where critical positioning accuracy is not required.

Input range:	1 to 4000 (pulses)
Default value:	80

*If the range specified by this parameter is larger than the range of the OUT valid posi- tion, the controller does not decide that the "positioning-completed pulse" range is en- tered until the axis reaches the OUT valid position.

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