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5-2 Parameter Description PRM113:Origin search data This specifies the performance data for detecting the origin position during return-to-ori-gin by the origin search method..Default value:Depends on robot type. PRM114:Open-circuit fault detection level This parameter sets the sensitivity for detecting an open-circuit fault. The upper limit ofthis parameter is 254. The sensitivity lowers as the parameter value increases. Leave this parameter set to 255 if you want to disable this detection function.Input range:1 to 255Default value:255 (This function is disabled.) PRM115:Not used

robot controller DRCX - 24902 5

Default value:0
PARAMETERS PRM116:Not used Default value:0 PRM117:Origin shift ° )Default value:0*The parameter change is enabled after reperforming return-to-origin. This parameter specifies a shift to the origin position after return-to-origin is complete.When return-to-origin is complete, the origin position is usually "0" (specified value when the mark method is used). If for some reason the origin position needs to be shifted by a particular amount, then change this parameter. For example, if an unwanted position shift occurred, then reteaching of all point data needs to be performed. However, the time and effort needed for this reteaching can be eliminated by setting the shift amount for this parameter to quickly correct the point data.Input range:-9999 to 9999 (0.01mm)or -9999 to 9999 (0.01 PRM118:QP band width This parameter specifies the control switching point (pulse width) that compensates forthe frictional resistance during deceleration.Input range:1 to 1000 (pulses)Default value:Depends on robot type. PRM119:No. of motor poles Default value:Depends on robot type. PRM120:Feed forward gain Default value:Depends on robot type. 5-

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