5-2 Parameter Description

PRM7: I/O point movement command speed

This parameter sets the movement speed to execute a point movement command (ABS- PT, INC-PT) and also determines the number of points that can be used with a point movement command. (See "3-2-2 General-purpose input (DI0 to DI7)".)

Input range:

0 to 100 (%)

Default value:

100

PRM8: No. of conditional input points

This parameter specifies the number of effective points for the third data conditional input for executing the JMPF statement of the robot language.

For example, when the default setting is selected for this parameter, the four points from DI0 to DI3 are used as the conditional inputs for the JMPF statement.

Input range:

1 to 8 (points)

Default value:

4

No. of conditional input points versus general-purpose input and setting range

No. of conditional input points

General-purpose input

Setting range

 

 

 

1

DI0

0 to 1

 

 

 

2

DI0 to DI1

0 to 3

 

 

 

3

DI0 to DI2

0 to 7

 

 

 

4

DI0 to DI3

0 to 15

 

 

 

5

DI0 to DI4

0 to 31

 

 

 

6

DI0 to DI5

0 to 63

 

 

 

7

DI0 to DI6

0 to 127

 

 

 

8

DI0 to DI7

0 to 255

 

 

 

n NOTE

When SERVICE mode is enabled, DI7 functions as a service mode input (SVCE). Because of this, the DI7 status will be the same as SERVICE mode input (SVCE) status when the number of conditional input points is 8.

PRM9: MOVF speed

This sets the speed at which the robot moves when the program language MOVF state- ment is executed.

Input range:

Depends on robot type. (mm/sec)

Default value:

10

PRM10: Return-to-origin speed

This specifies the movement speed during return- to-origin.

Input range:

1 to 100 (mm/sec)

Default value:

20

c CAUTION

When the return-to-origin speed is increased, an alarm might be issued during return-to-origin depending on the robot type. We recommend using the default value as much as possible.

5

PARAMETERS

5-5

Page 63
Image 63
Yamaha SRCP manual PRM7 I/O point movement command speed, PRM8 No. of conditional input points, PRM9 Movf speed