Origin Search (Return-To-Origin); Origin Point Detection Method - Yamaha TS-P User Manual

5.2 Origin search (return-to-origin)

5.2 Origin search (return-to-origin)

1
An origin point must be determined in order for this controller to operate a robot in a single-
axis coordinate system. This operation is called an "origin search" (or "return-to-origin").
Performing a return-to-origin sets the robot's coordinates and enables positioning.

5.2.1 Origin point detection method

The origin point can be detected by any of the following methods. The method used
2
varies according to the robot type and the system configuration.

Origin point detection method

Stroke-end method
3
Sensor method
Absolute search
: Factory setting;
Semi-absolute
4
"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
5
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.
6
Stroke-end (torque detection) method
■
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.
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Torque detection
When robot
reaches
mechanical end
after passing
phase Z
When robot
reaches
mechanical end
before passing
phase Z
S: Return-to-origin start position; O: Origin point; L: Reversed (return) movement amount; K13: Return-to-origin speed
5-4
Chapter 5 Operation
Type
Stroke-end method
Sensor method
: Supported; : Not supported
Return-to-origin direction (K14) = 0 (CCW)
L
S
O
K13
Phase Z
L side
Return-to-origin direction
L
S
O
K13
Phase Z
L side
Return-to-origin direction
Incremental Semi-absolute
Return-to-origin direction (K14) = 1 (CW)
L side
R side
Return-to-origin direction
L side
R side
Return-to-origin direction
L
S
O
K13
Phase Z
R side
L
S
O
K13
Phase Z
R side