Yamaha TS-P User Manual page 122

Yamaha single-axis robot controller
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5.3 Positioning operation
Setting example 3 (positioning + pitch feed)
Speed
1
100%
2
P1
(0.000mm)
100%
3
No.
P1
P2
P3
4
(1) P1
(2) Pitch feed corresponding to the P3 movement amount occurs.
(3) Return to P1.
5
Setting example 4 (merge operation)
Speed
100%
6
10%
P1
(0.000mm)
100%
7
No.
P1
P2
P3
P4
(1) Merge operation from P1
(2) Return to P1.
5-24
Chapter 5 Operation
100.000mm
P2
(200.000mm)
Position
RUN type
[mm]
ABS
0.000
ABS
200.000
INC
100.000
P2 positioning occurs.
P2
(200.000mm)
Position
RUN type
[mm]
ABS
0.000
ABS merge
200.000
ABS merge
400.000
ABS
500.000
100.000mm 100.000mm
Speed
Accel.
[%]
[%]
100
100
100
75
100
100
P3
(400.000mm)
P4
(500.000mm)
Speed
Accel.
[%]
100
100
10
100
P2
P3
P4.
Position
Decel.
[%]
100
100
100
Position
Decel.
[%]
[%]
100
100
100
100
100
100
100
100
Jump
0
3
4
0

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