Yamaha SRCP User Manual page 65

PRM18: Speed integration gain
This sets the speed control gain. Typically, PRM17 and PRM18 should be input at a ratio
of 3 : 2.
Generally, the larger the gain, the higher the acceleration will be. However, if the gain is
set too high, abnormal oscillation or noise might be generated, causing serious problems
in the robot and controller. Use caution when selecting this parameter to avoid such prob-
lems.
Default value: Depends on robot type.
PRM19: Position proportional gain
This sets the position control gain.
If this parameter is changed carelessly, serious problems may occur in the robot and con-
troller.
Default value: Depends on robot type.
PRM20: OUT valid position
This specifies the range in which the controller determines that movement command is
complete.
When a movement command is executed, the robot moves toward the target position. The
controller then determines that the movement command has ended when the remaining
distance to the target position is within this parameter setting. The controller then initiates
the subsequent step processing when the robot reaches this OUT valid position, so setting
this parameter to a larger value can reduce cycle time.
However, if the subsequent command is a movement command, it is not executed until the
ongoing positioning is complete.
Input range: 0 to 9999 (mm)
Default value: 1
PRM21: Position data unit
This parameter sets the units in which point data is to be displayed. Do not change this
parameter for the PHASER series. Always use the default value.
Default value: 0 (shown in mm)
c
CAUTION
Do not change this parameter for the PHASER series.
PRM22: English/Japanese selection
This parameter sets the language for the response messages displayed on the TPB or han-
dled by RS-232C communications.
Input range: 0 or 1
Meaning: 0: English
1: Japanese
Default value: 0
PRM23: Payload-dependent acceleration coefficient
The value calculated from PRM0, PRM12 and PRM3 is set automatically for this param-
eter.
Default value: Depends on robot type.
5-2 Parameter Description
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