Yamaha SRCP manual PRM41 I/O point movement command speed, PRM42 I/O point movement command speed

5

PARAMETERS

5-2 Parameter Description

PRM41: I/O point movement command speed 1

This parameter sets the speed at which the robot moves when a point movement command (ABS-PT, INC-PT) is executed. The speed set here is the movement speed used in normal mode (SERVICE mode disabled) with PRM7set to 0, DI6 turned on and DI7 turned off.

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

*The actual speed is the speed obtained by multiplying the execution speed displayed on the AUTO or STEP mode by this parameter (see "4-3-1 Program execution screen"). Example: When the execution speed displayed in AUTO or STEP mode is 50 and

this parameter is set to 10, the actual speed will be

2000mm/sec. ⋅ (50/100) ⋅ (10/100) = 100mm/sec. (when PRM44=2000)

PRM42: I/O point movement command speed 2

This parameter sets the speed at which the robot moves when a point movement command (ABS-PT, INC-PT) is executed. The speed set here is the movement speed used in normal mode (SERVICE mode disabled) with PRM7 set to 0, DI6 turned off and DI7 turned on.

Input range:	1 to 100 (%)
Default value:	30

*The actual speed is the speed obtained by multiplying the execution speed displayed on the AUTO or STEP mode by this parameter (see "4-3-1 Program execution screen"). Example: When the execution speed display in the AUTO or STEP mode is 50 and

this parameter is set to 30, the actual speed will be

2000mm/sec. ⋅ (50/100) ⋅ (30/100) = 300mm/sec. (when PRM44=2000)

PRM43: I/O point movement command speed 3

This parameter sets the speed at which the robot moves when a point movement command (ABS-PT, INC-PT) is executed. The speed set here is the movement speed used in normal mode (SERVICE mode disabled) with PRM7 set to 0, DI6 turned on and DI7 turned on.

Input range:	1 to 100 (%)
Default value:	70

*The actual speed is the speed obtained by multiplying the execution speed displayed on the AUTO or STEP mode by this parameter (see "4-3-1 Program execution screen"). Example: When the execution speed display in the AUTO or STEP mode is 50 and

this parameter is set to 70, the actual speed will be

2000mm/sec. ⋅ (50/100) ⋅ (70/100) =700mm/sec. (when PRM44=2000)

PRM44: Maximum speed setting

This parameter sets the maximum robot speed.

Input range:	1 to 2500 (mm/sec.)
Default value:	Depends on robot type.

c CAUTION

Changing this parameter carelessly might shorten the robot service life or cause other problems.

PRM45: Feed forward gain

Default value: Depends on robot type.

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