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Parameters

5-1

Chapter 5 Parameters

5-1 Parameter setting

For information on how to set parameters with the TPB, refer to "5-1 Setting parameters"

in the SRCP controller user's manual. A TPB version of V12.50 or higher is required.

5-2 Parameter list

• Some parameters become effective by turning the power off and then on again. After

changing those parameters be sure to turn the power off once and then back on again.

• The shaded PRM (parameter) numbers are hidden parameters and usually cannot be

displayed on the TPB. See "10-5-1 Viewing hidden parameters" in the SRCP controller

user's manual for information on how to write and display these parameters.

• The alphabet letters in the "Relevant control mode" column mean as follows: S is normal

mode and P is pulse train mode.

• The alphabet letter "R" in the "Setting range" column signifies a read-only parameter.

• The asterisk (*) indicates the value differs according to the robot.

■ PRM1 (Common parameters)

PRM

No.

Parameter name Setting range

Default value

Unit

Relevant control mode,

etc.

Power

off and on

Robot type number

(+) Soft limit

(–) Soft limit

Payload

Acceleration

Return-to-origin direction

Positioning completed pulse

I/O point movement command speed

No. of conditional input points

MOVF speed

Return-to-origin speed

No. of encoder pulses (after multiplied 4)

Lead length

Origin detection method

Overload current

Overload time

Current limit

Speed proportional gain (Kvp)

Speed integration gain (Kvi)

Position proportional gain (Kpp)

OUT valid position

Position data unit

English/Japanese selection

Payload-dependent acceleration coefficient

Teaching count data

(Not used)

Teaching movement data

Teaching movement data 1

Teaching movement data 2

Teaching movement data 3

Maximum program speed

Mechanical lock detection level

-9999 to 9999

1 to 200

0 or 1

1 to 4000

0 to 100

1 to 8

1 to *

1 to 100

–

0 to 1

1 to 10000

1 to 40959

300 to 90000

200 to 60000

1 to 1000

0 to 9999

0 to 3

0 to 1

1 to 255

–

1 to 100

0 to 255

100

–

100

255

–

Pulse

Point

mm/s

Pulse

.01mm

–

.01s

Common

–

Common

1 2 ... 20 21 22 23 24 25 26 27 28 29 30 ... 33 34

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