Yamaha DRCX User Manual page 80

PRM3: Return-to-origin order
This parameter determines the order of the axes when returning to origin.
Input range:
Meaning:
Default:
c
CAUTION
When the stroke end detection method (PRM55=1, PRM95=1) is selected for the 2 axes as the origin detection
method, do not set this parameter to 2 (XY simultaneous). Otherwise, return-to-origin may not be performed
normally.
PRM4: MOVF speed
This sets the speed at which the robot moves when the program language MOVF state-
ment is executed.
Input range:
Default value: 10
PRM5: I/O point movement command speed 1
This parameter specifies the movement speed (%) at which the robot moves when a point
movement command (ABS-PT, INC-PT) is executed.
When "type 3" (point teaching type) is selected by the I/O assignment setting, this param-
eter specifies the jog speed at which the robot moves at a jog movement command (JOG+,
JOG-).
This movement speed specified here is the speed used with DI10 turned ON and DI11
turned OFF.
When "type 2" (point number output type) or "type 3" (point teaching type) is selected by
the I/O assignment setting and the speed is changeable by SPD1 and SPD2, this parameter
specifies the speed when SPD1 is set to ON and SPD2 is set to OFF.
Input range:
Default value: 10
* The actual speed at which the robot moves with a point movement command (ABS-PT,
INC-PT) is the speed obtained by multiplying the execution speed displayed in AUTO
or STEP mode by this parameter. (Refer to "4-3-1 Program execution screen".)
For example, if the execution speed displayed in AUTO or STEP mode is 50 and this
parameter is set to 10, then the actual speed will be:
3000 rpm × (50/100) × (10/100) = 150 rpm
(When PRM64 and PRM104 are set to 3000.)
* If this parameter is set to 10, then the jog speed will be:
100 × 10/100 = 10mm/sec.
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0 to 2
0: X →Y
1: Y →X
2: XY simultaneous
Depends on robot type.
1 to 10000 (mm/sec)
1 to 100 (%)
5-2 Parameter Description
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