Yamaha TS-S, Руководство пользователя

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3
Data setting
3-1
1. Data overview
1.1 Overview
Point data and parameter data settings must be specified in order to operate a robot from a TS series controller.
Point data
n
The point data used in positioning operations includes items such as the "RUN type", "Position", and "Speed", etc.
Up to 255 points (P1 to P255) can be registered.
There are two point data setting types: "Standard setting" type that automatically defines optimal positioning simply by
specifying the payload and "Custom setting" type that allows setting the speed (mm/s) and acceleration (m/s
2
) in SI units.
Select the desired setting type according to the application.
Parameter data
n
Parameter data is divided into the following categories: "RUN parameters", "I/O parameters", "Option parameters", and
"Servo parameters".
Data configuration
P1 to P255
RUN type
Position
Speed
Accel.
Decel.
Push
Zone (-)
Zone (+)
Near width
Jump
Flag
Timer
Data Point data
Parameter data
1
2
3
4
5
6
7
8
9
10
11
12
K1 to K20
RUN parameter
K80 to K99
Option parameter
K21 to K39
I/O parameter
K40 to K79, K100 to ...
Servo parameter
Sets the point data to be used in
positioning. Select the desired setting
type ("Standard setting" or "Custom
setting") according to the application.
Specifies parameter settings related to
positioning and return-to-origin
operations.
Specifies parameter settings related
to terminal assignments and I/O
function selection.
Specifies parameter settings related to
options such as CC-Link, etc.
Specifies parameter settings specified
to the connected robot. These param-
eters are specified during initial
processing.
(1) Standard setting
Optimum positioning is provided
simply by specifying the payload.
(2) Custom setting
Speed and acceleration can be set
in SI units.
23301-M0-00
1.2 Data system-of-units
Depending on the robot model, the point data and parameter data system-of-units which appear in the User's
Manual and support tools* may differ from the actual system-of-units.
Model Indication / Display
Actual System-Of-Units
Rotary Axis Model * Other Models
"Position" related data units mm deg mm
"Speed" related data units mm/s deg/s mm/s
"Acceleration" related data units m/s
2
10
3
×deg/s
2
m/s
2
* Rotary axis models include the FLIP-X Series R Type and the TRANSERVO Series RF Type.
* Support tools include the Handy Terminal HT1 and the support software TS-Manager.