User`s manual

Parameter description
6
6-16
6. Parameter description
Parameter
No.
Parameter
name
Setting range
[Default value]
Description
FA-08
Regenerative
braking
operating ratio
0.0 to 100.0
(%)
[Depends on model]
Use this parameter to set the duty ratio of the
regenerative braking resistor for 5 seconds. An alarm
trips if the regenerative braking time exceeds this
setting. (See table below.)
When set to 0.0, no alarm due to the duty ratio will
trip. Set this parameter value when using an external
braking resistor with overheat protection, which is
different from the external braking resistors available
from YAMAHA as options.
When not connecting an external braking resistor,
set the allowable duty ratio of the internal braking
resistor shown in the table. When using an optional
external braking resistor, set the allowable braking
frequency value by referring to 10.1, "Options".
Robot driver output
Allowable duty ratio of
internal braking resistor
3-phase
200V
RD*-05, 10 Other than 0.0%
RD*-20,
RDP-25
0.5%
Note: When making the FA-08 setting, always set a
value that matches the internal or external
braking resistance. If the setting is incorrect,
the braking resistor may break down.
FA-09
Overload notice
level
20 to 100
(%)
[80]
If the overload level exceeds the value set in this
parameter, then the electronic thermal function
outputs an overload warning signal.
FA-10
Auto tuning
mode
non
oFL
onL1
FFt
onL2
[non]
Auto-tuning and mechanical system diagnosis are
performed according to the setting of this parameter.
Do not set this parameter to "onL1" and "onL2".
Setting Description
non Does not perform auto-tuning.
oFL
Performs offline auto-tuning.
When servo is turned ON with this parameter
set to "oFL", offline auto-tuning automatically
starts. When auto-tuning is completed, the
mover mass is automatically set and this
parameter is reset to "non".
FFt
Performs mechanical system diagnosis.
When the servo is turned ON with this
parameter set to "FFt", an FFT analysis
is performed by moving the robot in a
vibrational motion, and the transmission
characteristics of the user’s mechanical
system are displayed. After the operation is
completed, this parameter is reset to “non”.
(Make this setting via the TOP software.
Operation will not be correct if this setting is
made only on the robot driver. )