Shibaura CA20-M10, Руководство по эксплуатации

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13
– 20

13.4.7 Setting of return to origin speed
STEP 1
Use the numeric keypad to enter the station No.
(0 to 3) and press
ENT
.
STEP 2
Use the numeric keypad to enter the origin
speed and press
ENT
.
When
NEXT
is pressed, the next screen will
display, and when
-NEXT
is pressed, the
previous screen will display. Press
ESC
to
display the parameter 2 end screen.

Set movement speed L (low speed), M (medium speed) and H (high speed) for
returning to the origin.
(Setting range: L, M = 1 to 250, H = 1 to 999, unit: mm/s)

This value is set automatically when the robot type is entered. Refer to section
2.4.7.
NOTE

If movement speed L (low speed) and M (medium speed) are set to more than the
initial value, normal return to the origin may not be possible. Also encoder error
may occur.

Even if a value after the decimal point is entered, it is assumed to be a numeric
value rounded down for operation.
[Explanation of return to origin speed L, M and H]
This ROIbot has two methods of returning to the origin. (Refer to section 13.4.8.) Furthermore,
there is the initial return to origin after the power is turned ON and the second and following
return to origin.
(1) When parameter 2 return to origin method is set to "0" (Refer to section 13.4.8)

When carrying out initial return to origin
NOTE
If the robot is at the origin, it moves outside the origin sensor once and then carries
out return to the origin again.
[ P A R A ] K 0 7
H O M E P O S I . L : 0 0 2 . 0
S P E E D A 0 M : 0 2 0 . 0
H : 1 0 0 . 0
High speed return to origin position set with parameter 2
(Refer to section 13.4.10)
Ｍ
エンコーダのＺ相
検出位置（原点）
Ｈ
Ｌ
原点センサ
原点復帰速度
Ｚ相
Encoder Z-phase
detection position (Origin)
Return to origin
speed
Origin sensor
Z-phase