Yamaha TS-S, User Manual

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5
o
peration
5-6
2. Origin search (return-to-origin)
This controller needs to determine the origin point in order to operate the robot in the single axis coordinate
system. This operation is called "origin search" (or "return-to-origin").
Performing the return-to-origin will set the coordinates of the robot and enable the positioning operation.
n
NOTE
For the robot with the incremental specifications, the return-to-origin of the robot is needed each time the
control power is started.
2.1 Origin point detection method TS-S TS-S2 TS-X TS-SH
The following methods are available to detect the origin point. Each detection method is set as follows:
Origin Detection Method TS-S TS-S2, TS-SH TS-X
Stroke-end method
Sensor method *
Mark method
: Factory setting; : Supported; : Not supported
* This origin point detection method is available from software version Ver. 1.10.121 onwards. (This function
is enabled only when the robot I/O setting is set at "SENSOR".)
●
Absolute function TS-X TS-SH
The absolute function is enabled by connecting the absolute battery (optional). Once the absolute battery has been
connected and a single return-to-origin has been executed, further return-to-origins are not required at subsequent power
ONs because the origin position information is saved.
Stroke-end (torque detection) method
n
Movement in the return-to-origin direction occurs when a return-to-origin begins, and continues until the mechanical
end is struck. The movement direction is reversed at that time by motor torque detection, and returns by an amount
which is unique to each robot. Movement then stops, and a return-to-origin end status is established.
Stroke-end (torque detection) method
Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)
O
S
O
S
Motor side Motor side
L
L
K13
Return-to-origin direction
K13
Return-to-origin direction
S: Return-to-origin start position; 0: Origin point; L: Reversed (return) movement amount; K13: Return-to-origin speed
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Sensor method
n
Movement in the return-to-origin direction occurs when a return-to-origin begins, and movement stops when the sensor
detects the origin point dog. A return-to-origin end status is then established.
Sensor method
O
S
O
S
Sensor Sensor
K13 K13
Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)
Motor side Motor side Return-to-origin direction Return-to-origin direction
S: Return-to-origin start position; 0: Origin point; K13: Return-to-origin speed
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