Yamaha TS-S, Руководство пользователя

Страница: 111 / 286

5
o
peration
5-7
Mark method
n
When the mark method is specified (K66 (return-to-origin method): "Mark") as origin point detection method, movement
in the return-to-origin direction occurs when a return-to-origin begins, and movement stops at the nearest motor
reference position. A return-to-origin end status is then established.
c
CAutIoN
the appropriate return-to-origin method is factory-set for each robot according to its type. If you want to change
the return-to-origin method, contact yAMAhA.
An alarm may occur during return-to-origin operation if the return-to-origin speed is set too high. Always set it to
an appropriate value.
2.2 Origin point detection method TS-P
The origin point can be detected by any of the following methods. The method used varies according to the
robot type and the system configuration.
Type
Origin point detection method
Incremental Semi-absolute
Stroke-end method
Sensor method
Absolute search
Stroke-end method
Sensor method
: Factory setting; : Supported; : Not supported
●
Semi-absolute
"Semi-absolute" is the name for a simple absolute scale used in the PHASER series robots that can be operated with this
controller. This is a position detection scale with a quick absolute search function that performs an absolute search on
the scale when an origin search (return-to-origin) command is input and determines the absolute position with just a
minimal movement. Using this scale drastically reduces the time needed for return-to-origin operation by PHASER series
robots, especially those with long-stroke movements.
●
Incremental
Controls an incremental type robot. A return-to-origin operation for the robot is required each time the control power is
turned on.
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
Torque detection
O
S
L side
L
K13
R side
O
S
L side
L
K13
R side
Return-to-origin direction
Return-to-origin direction
Return-to-origin direction
O
S
L side
L
K13
R side
O
S
L side
L
K13
R side
Return-to-origin direction
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
Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)
When robot
reaches
mechanical end
after passing
phase Z
When robot
reaches
mechanical end
before passing
phase Z
23502-M2-00