Yamaha SRCP Bedienungsanleitung PDF herunterladen (Seite 19)

Operation

4 -1

Chapter 4 Operation

4-1 Setup for operation

After correctly installing and connecting the controller to the robot, turn on the power

and then make ready for operation.

[Initial setting]

• The normal mode is the default (factory) setting. To use in the pulse train mode, make the

mode setting after first turning the power on.(PRM64: Input type)

• To make the mode setting, unplug the I/O.CN connector and set in emergency stop. In the

normal mode, the servo turns on when the power is turned on while NOT in emergency

stop.

• After making the setting, turn the power off and then on again.

[Operation check]

• After checking that there are no alarms after power is turned on, turn the servo on.

• Operate in jog with a pulse input from the host device, and check that there are no

malfunctions.

[Parameter settings]

• Set the parameters as needed to match the usage conditions.

• Always be sure to turn the power off and then on again after changing parameters that

require power be turned on again.

[Magnetic pole detection]

• When using the SRCP series controller to operate a PHASER series robot, the magnetic

poles must first be detected before beginning the robot operation. Failure to do so may

trigger alarms and lead to operating malfunctions. Use the following methods to detect

the magnetic poles.

Return-to-origin (ORG-S)

Passing through phase ZM during position control by pulse train input

* For more information, refer to "4.3 Magnetic pole detection".

[Trial operation]

• Start trial operation after checking that safety devices such as emergency stop are func-

tioning correctly.

• Using no workpiece or a dummy workpiece, check that operation is normal with a pulse

input supplied from the host device.

[Gain adjustment]

• Each YAMAHA single-axis series robot is set at the factory with its own optimal charac-

teristic gain parameter. In the event that the gain must be adjusted to improve work

throughput, we recommend adjusting the position control system gain parameter. How-

ever, use plenty of caution since an extreme gain setting will trigger alarms and cause

breakdowns.

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Yamaha SRCP Bedienungsanleitung Seite 19