Parameter Data; Parameter List; Run Parameters - Yamaha TS-S User Manual

4. Parameter data
The 4 types of parameter data are shown below.
Type
RUN parameter
I/O parameter
Option parameter
Servo parameter
4.1 Parameter list
At the initializing routine, all parameters are set to their default values in accordance with the specifications of
the selected robot and the payload. The following list shows the parameter setting ranges and default settings.
n
NOTE
For details regarding parameters see section 4.2, "Parameter details".
4.1.1 RUN parameters
• Positioning
No. Name
1 (-) soft limit
2 (+) soft limit
3 In-position
4 Push mode
5 Push judge time
6 Push speed
7 Zone (-)
8 Zone (+)
9 Speed override
10 JOG speed
11 Inching width
12 MOVE output level
* Depending on the robot model, the point data system-of-units which appears in the User's Manual and support tools may differ
from the actual system-of-units.
• Return-to-origin
No. Name
13 Origin speed
14 Origin dir.
15 Origin coordi.
16 Origin shift
* Depending on the robot model, the point data system-of-units which appears in the User's Manual and support tools may differ
from the actual system-of-units.
These parameters are required for robot operation, and they include "soft limit" and "zone"
settings.
These parameters are for terminal assignment and I/O functions.
These parameters are for optional settings (CC-Link and DeviceNet, etc.), and include the "node
No." and "baud rate" settings.
These parameters are robot-specific parameters, and they include "encoder pulse count",
"gain", "rating", and "max. current" settings.
Setting / Setting Range
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999
Other than TS-P : 0.01 to 1.00
TS-P : 0.001 to 1.000
0: Continue push after judgment, no push failure judgment
1: Positioning after judgment, no push failure judgment
2: Continue push after judgment, with push failure judgment
3: Positioning after judgment, with push failure judgment
1 to 60000
0.01 to 20.00
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999
1 to 100
1 to 100
Other than TS-P : 0.01 to 1.00
TS-P : 0.001 to 1.000
0.01 to 100.00
Setting / Setting Range
0.01 to 100.00
0: CCW direction; 1: CW direction
0: Standard; 1: Reversed
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999
Description
*
Units Default
Other than TS-P
mm
TS-P
mm Depends on robot type
Other than TS-P
mm
TS-P
-
ms
mm/s Depends on robot type
Other than TS-P
mm
TS-P
Other than TS-P
mm
TS-P
%
%
Other than TS-P
mm
TS-P
mm/s
*
Units Default
mm/s Depends on robot type
- Depends on robot type
-
Other than TS-P
mm
TS-P
3
Restart
: 0.00
-
: 0.000
-
: 0.01
-
: 0.001
0 -
10 -
-
: 0.00
-
: 0.000
: 0.00
-
: 0.000
100 -
100 -
: 1.00
-
: 1.000
0.01 -
Restart
-
-
0 -
: 0.00
-
: 0.000
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