Yamaha TS-P, Руководство пользователя

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5
o
peration
5-8
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
Return-to-origin direction Return-to-origin direction
O S O S
Sensor Sensor
K13 K13
L side L side R side
R side
R side
R side
Return-to-origin direction Return-to-origin direction
O S O S
K13 K13
L side L side
Phase Z Phase Z
Phase Z Phase Z
S: Return-to-origin start position; O: Origin point; L: Reversed (return) movement amount; K13: Return-to-origin speed
Sensor detection Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)
When sensor is
detected after
passing phase Z
When sensor is
detected before
passing phase Z
23503-M2-00
Absolute search (stroke-end method, sensor method)
n
When an absolute search (return-to-origin) begins, the robot starts moving toward the origin point and reads phase Z
which is magnetized in the linear scale. When the position is determined, the robot moves back and reads phase Z again
to confirm the position. When the position is again determined, the robot stops to complete the absolute search. The
distance L that the robot moves in the return-to-origin direction is a maximum of 76mm.
Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)
S
L side
K13
L L
S
L side
K13
R side
R side
S: Return-to-origin start position, K13: Return-to-origin speed
Absolute search
23504-M2-00
• When the stroke-end method is used to detect the origin point and the mechanical end is struck during
absolute search movement
When an absolute search (return-to-origin) begins, the robots starts moving toward the origin point. When the mechanical
end is struck, the robot moves in the direction opposite to the origin point and reads phase Z which is magnetized in the
linear scale. When the position is determined, the robot again moves toward the origin point and reads phase Z again to
confirm the position. When the position is again determined, the robot stops to complete the absolute search. The
distance L that the robot moves in the return-to-origin direction and in the opposite direction is a maximum of 76mm.
L side
R side R side
S
K13
L
S: Return-to-origin start position, K13: Return-to-origin speed
L side
L
K13
S
Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)
Absolute search operation
Mechanical end is struck.
23505-M2-00