5

PARAMETERS

5-2 Parameter Description

PRM54: Magnetic pole detection level

Default value: Depends on the robot.

PRM55: Magnetic pole position

Default value: 0

PRM56: Controller version 2

This parameter reads out the version information (2) on the control software in the con- troller.

This is a read-only parameter.

PRM57: Servo braking selection (available for version 24.15 or later)

This parameter is used to select the servo braking method.

When emergency stop is triggered while the robot is moving, the servo braking function immediately reduces the robot speed as much as possible before the servo turns off, so that the braking time and distance can be shortened.

Besides the case of emergency stop, this function is also effective when an overload or 24V power-off alarm occurs or when the power is cut off.

Default value: 2

c CAUTION

Do not change the setting.

PRM58: Not used

Default value: 0

PRM59: Not used

Default value: 0

PRM60 to 63: Spare

PRM64 to 99: Data area for pulse trains

5-16

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Yamaha SRCP PRM54 Magnetic pole detection level, PRM55 Magnetic pole position, PRM56 Controller version, PRM58 Not used