Yamaha SRCP Bedienungsanleitung PDF herunterladen (Seite 29)

5 -5

Parameters

PRM70 Servo-off sequence

Input range Default value Unit

0 to 3 0 –

Sets the deviation counter processing when an alarm or servo-OFF occurs.

Setting value Description

Clears the deviation counter when an alarm or servo-OFF occurs.

Clears the deviation counter only when an alarm occurs.

Clears the deviation counter only when servo-OFF occurs.

Holds the deviation counter even when an alarm or servo-OFF occurs.

* Caution: If the deviation counter is not cleared then the next time the servo turns on,

the robot will suddenly move by an amount equal to the number of accumulated

pulses in the counter.

PRM71 POS-deviation limit

Input range Default value Unit

0 to 32767 1000 ×256 Pulse

Sets the alarm level for detecting values outside the deviation limit.

PRM72 Function select 1

Input range Default value Unit

0 to 3 0 –

Selects a method for resetting alarms relating to input (emergency stop, DC24V supply)

to EXT.CN.

Setting value Description

Alarm reset input is required after canceling emergency stop and/or

supplying 24 volts DC input.

Alarm reset input is required after supplying 24 volts DC input, but

emergency stop is automatically reset after being cancelled.

Alarm reset input is required after canceling emergency stop, but 24 volts

DC input is automatically reset after being input.

Auto reset after canceling emergency stop and/or supplying 24V DC input.

* This function was added to the controller version V24.07 or later.

PRM73

Magnetic pole detection method

selection

Input range Default value Unit

0 to 2 1 –

Selects the magnetic pole detection method.

Setting value Description

Detects the magnetic poles only during return-to-origin.

Detects the magnetic poles during return-to-origin and during motion by

pulse train input.

Detects the magnetic poles during return-to-origin and during motion by

pulse train input. DO2 turns ON when detection is complete.

* This function was added to the controller version V24.16 or later.

* This parameter is effective only for the SRCP series.

5-3 Parameter description

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