Yamaha TS-S, Руководство пользователя

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A
ht
1
o
peration Guide
A-28
6.3 Operating the robot
This section describes how to position the robot using the HT1.
w
WARNING
thE RoBot WIll NoW MovE, So uSE CAutIoN.
1
On the main menu screen, select
"Operation".
The "Operation" menu screen appears
showing selectable menu items.
2
Move the cursor to "Run" and press .
The "Run" screen opens showing a point
number and point data items.
"S=**%" in the status area indicates a speed
override for positioning operation. (Refer to
the "Controller Guide", Chapter 3, section 4,
"Parameter data".)
Servo status
Origin search
Run
Reset
Current pos. 128.00 mm
Operation
NRM
[01]
P 1
1. Run type
2. Position
3. Speed
4. Accel.
5. Decel.
6. Push ABS
185.00
100
100
100
100
-
mm
%
%
%
%
RUN:positioning start
Current pos.
128.00 mm
Run S=100% NRM [01]
"Run" screen
Step 2
24A34-M0-00
TIP
The displayed data items are the same as those
shown on the "Point edit" screen, but cannot be
edited here.
3
Specify the point number.
To specify the point number, use the same
procedure as for point data editing.
(Press
or to specify the point number,
or press FUNC to select it from the "Function"
menu.)
4
Specify the speed.
If you want to change the speed, press FUNC
to open the "Function" menu and specify the
speed as follows:
1. Select "Change speed" and press .
The edit cursor then appears at the
speed value.
2. Specify the speed and press .
To specify the speed, use the same
procedure as for setting a point number.
The cursor then moves to "Yes" under the
"Change OK?" message.
3. Press to enable the setting.
The speed you specified is then displayed
as "S=** %" in the status area.
-
mm
%
%
%
%
RUN:Teaching, -/+:JOG
Current pos.
50.00 mm
P 1
1. Run
2. Position
3. Spee
4. Accel.
5. Decel.
6. Push ABS
100.00
100
100
100
100
Point teaching S=100% [01]
Function
Select number
Change speed
Point list
-
mm
%
%
%
%
RUN:Teaching, -/+:JOG
Current pos.
50.00 mm
P 1
1. Run
2. Position
3. Spee
4. Accel.
5. Decel.
6. Push ABS
100.00
100
100
100
100
Point teaching S=100% [01]
Change speed
Speed
S = 10 0 %
Change OK?
Yes
No
-
mm
%
%
%
%
RUN:positioning start
Current pos.
128.00 mm
P 1
1. Run type
2. Positio
3. Speed
4. Accel.
5. Decel.
6. Push ABS
100.00
100
100
100
100
Run S=100%
Change Speed
Speed
S = 80 %
Change OK?
Yes
No
NRM
[01]
Step 4
Specifying operation speed
1.
2.
3.
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