Yamaha SRCP Uživatelský manuál stáhnout pdf (Strana 21)

4 -3

Operation

4-3 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

The magnetic pole detection method can be selected by setting a parameter. When the

detection is complete, the result is also output as general-purpose output by the parameter

setting.

(PRM73: Magnetic pole detection method selection)

■ Return-to-origin (ORG-S)

The magnetic poles are automatically detected when the robot passes through phase ZM

during return-to-origin by ORG-S input.

■

Passing through phase ZM during position control by pulse train input

The magnetic poles are detected when the robot passes through or stops at phase ZM during

position control by pulse train input.

* When the robot passes through phase ZM, the speed must be lower than 100 [mm/s].

Higher speeds may cause the magnetic pole detection to fail.

* Magnetic poles are not detected during servo OFF.

* This function was added to the controller version V24.16 or later.

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Yamaha SRCP Uživatelský manuál Strana 21