Yamaha SRCP PRM24 Teaching count data TPB entry, PRM25 Not used, PRM26 Teaching movement data

5-2 Parameter Description

5

PARAMETERS

5-8

PRM24: Teaching count data (TPB entry)

This is entered in the TPB and cannot be used.

Default value: 0

PRM25: Not used

Default value: 0

PRM26: Teaching movement data

This parameter is used during movement with a communication command @X+ or @XINC. This is also used for point teaching playback.

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

PRM27: Teaching movement data 1 (for TPB)

This is entered in the TPB and cannot be used.

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

* The TPB writes the contents of PRM27 into PRM26 when connected to the controller.

PRM28: Teaching movement data 2 (for TPB)

This is entered in the TPB and cannot be used.

Input range:	1 to 100 (%)
Default value:	50

PRM29: Teaching movement data 3 (for TPB)

This is entered in the TPB and cannot be used.

Input range:	1 to 100 (%)
Default value:	10

PRM30: Maximum program speed

The speed data defined by the MOVA, MOVI and MOVM statements in a program is multiplied by this parameter value to determine the maximum speed at which the robot actually moves. This is used to lower the speed of the overall program. When the TPB is used, any speed changes in the AUTO and STEP modes will also change this parameter value.

Max. speed (%) = PRM30 ⋅ speed operand (%) of movement command / 100

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

PRM31: Mechanical lock detection level

This parameter sets the sensitivity to detect mechanical locking caused by collision of the robot with an object. The upper limit of this parameter is 254. The sensitivity becomes lower as the parameter value increases. Leave this parameter set to 255 when you want to disable this function.

Input range:	1 to 255 (.01 sec.)
Default value:	255 (This function is disabled.)