Yamaha SRCP - Manual (Page 74)

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5
PARAMETERS
5-2 Parameter Description
PRM54: Magnetic pole detection level
Default value: Depends on the robot.
PRM55: Magnetic pole position
Default value: 0
PRM56: Controller version 2
This parameter reads out the version information (2) on the control software in the con-
troller.
This is a read-only parameter.
PRM57: Servo braking selection (available for version 24.15 or later)
This parameter is used to select the servo braking method.
When emergency stop is triggered while the robot is moving, the servo braking function
immediately reduces the robot speed as much as possible before the servo turns off, so that
the braking time and distance can be shortened.
Besides the case of emergency stop, this function is also effective when an overload or
24V power-off alarm occurs or when the power is cut off.
Default value: 2
c
CAUTION
Do not change the setting.
PRM58: Not used
Default value: 0
PRM59: Not used
Default value: 0
PRM60 to 63: Spare
PRM64 to 99: Data area for pulse trains