Yamaha ERCX Spezifikationen PDF herunterladen (Seite 16)

APPLICATION

Compact

single-axis robots

TRANSERVO

Single-axis robots

FLIP-X

Linear motor

single-axis robots

PHASER

Cartesian

robots

XY-X

SCARA

robots

YK-XG

Pick & place

robots

YP-X CLEAN

CONTROLLER

INFORMATION

354

Robot

positioner

Pulse string

driver

Robot

controller iVY Option

Features

1 Main operation patterns

Normal operation Merge operation Output pattern

Moves to the target position relative

to the origin point and completes

positioning.

Moves from the current position

just by a distance specified in point

data and completes positioning.

Moves while pushing at a preset

push force.

Pushing starts after decelerating

at a distance equal to “Near width

(N)” from the target position.

P1 Position

Moves to a specified

coordinate position.

P1Current position

Moves a specified distance

from the current position

Pushes at a fixed thrust

Decelerates and then

pushes

Speed

ABS (absolute) operation

Pushing operation

INC (incremental) operation

Pushing after decelerating

Moves to multiple points in

succession. If different speeds were

set, then the speeds are changed

without decelerating and stopping to

continue point-to-point operation.

P1 P2

Changes speed with no

deceleration

Merge operation

Zone for external I/O output can

be set for each point.

Output turns ON when a

specified zone is entered

ON OFF

“Near width” output zone can be set for

each point as a position margin zone where

“positioning complete” signal is to be output.

Specify position margin

zone.

Zone output “Near width” output

Detailed data can be set for each point

Settings such as acceleration, deceleration, zone output

range, and position margin zone can be set for each point.

Different operations can be easily speciﬁ ed by combining

these settings with the above operation patterns.

Setting items

Setting item Description

1Run type

Speciﬁ es operation pattern such as ABS, INC,

positioning, push, and point-to-point link.

2 Position Speciﬁ es position or distance to move.

3 Speed Speciﬁ es maximum speed during operation.

4 Accel. Speciﬁ es acceleration during operation.

5Decel.

Speciﬁ es deceleration during operation

(Percentage of acceleration)

6Push

Speciﬁ es motor current limitation during

pushing operation.

7 Zone (-)

Speciﬁ es upper and lower limits of “personal

zone” for each point data.

8 Zone (+)

9 Near width

Speciﬁ es position margin zone where “near

width” output should turn on.

10 Jump

Speciﬁ es next movement destination after positioning

or linked des ination for point-to-point operation.

11 Flag Speciﬁ es stop mode and others.

Note:Acceleration and deceleration can be set in easy-to-understand percentage (%) units

(standard setup) or in SI units (custom setup) which make it easy to calculate the cycle time.

3 Maximum acceleration auto setting

Acceleration is a critical parameter that determines how

long the robot can continue operating (or service life).

In worst cases, setting the acceleration too high may

cause the robot to breakdown after a short time.

On the TS series, the maximum acceleration is finely set by

taking into account the service life span of the motor output and

the guide for each robot model and payload. This eliminates

any worry about setting the acceleration too high by mistake.

4 Full range of monitor functions

The TS-Manager developed exclusively for the TS series

not only does data write, edit, backup tasks and parameter

settings but also comes loaded with cycle-time, simulator,

and monitor functions of all types.

A run-distance monitor for maintenance use is provided

as a standard unit feature. Design emphasizes easy,

user-friendly operation.

Main monitor displays

· Position

· Current

· Voltage

· Input information

· Output information

· Speed

· Load factor

· Temperature

P. 3 62

5 LCD monitor showing easy-to-

understand operation status display

TS-X TS-P

A main-unit integrated type LCD monitor is available as

an optional unit.

The operation status, current position, load factor, and/

or error contents can be understood at a glance.

Single axis

TS-S/TS-X/TS-P

TS series

TS series are positioner type controllers that only performs point trace. No program is needed.

Operation is simple. After setting point data, specify the point number and enter a START

signal from host controller such as a PLC. Positioning or pushing operation then begins.

Dedicated I/O point tracing

TS-S

TS-X TS-P

Robot positioner

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