Yamaha SRCP - Manual (Page 63)

5-
5
5
PARAMETERS
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
1
2
3
4
5
6
7
8
DI0
DI0 to DI1
DI0 to DI2
DI0 to DI3
DI0 to DI4
DI0 to DI5
DI0 to DI6
DI0 to DI7
0 to 1
0 to 3
0 to 7
0 to 15
0 to 31
0 to 63
0 to 127
0 to 255
General-purpose input Setting range
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
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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.