Stop Mode Ts-S Ts-S2 Ts-Sh - Yamaha TS-S User Manual

7.5 Stop mode TS-S TS-S2 TS-SH
This switches the control during stop state after positioning operations. Use "Flag" for each point to switch the
stop mode.
Item
Stop mode select
Closed mode
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This controller delivers high stop performance equivalent to servomotors by the vector control. This ensures "no step-out"
and reduces the holding torque required during stop.
Open mode
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This mode enables the holding torque during stop. In closed mode, the motor operates like a servo motor and tends to
cause a hunting to occur during stop. In open mode, a hunting caused by external disturbing effects can be avoided since
the holding torque is enabled. The holding torque amount and the time to enable the holding torque can be set by the
parameters.
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NOTE
The stop mode after the "Point trace" operations will be determined by the "Flag" setting for each point data.
The stop mode after the operations such as "Jog" and "Return-to-origin" operations (other than "Point trace"
operations) will be determined by the parameter "Stop mode" (K123).
c
CAutIoN
• In the open mode, correction of the stop position will not be made if the position has been shifted by an
external force, etc. because the feedback control is not done in this mode.
• When the stop mode is switched from closed to open mode, the stop position may change to a certain degree
due to the effect of the step angle.
7.6 Magnetic pole position estimation TS-P
The magnetic pole position is estimated at first "servo ON" after the control power is turned on. This operation
is described below.
Timing chart
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Timing chart
Magnetic pole position estimation
Servo ON (SERVO)
Servo status (SRV-S)
Operation-in-progress
(BUSY)
Status
BUSY switches ON during magnetic pole position estimation and switches OFF when complete, indicating that the robot
is ready to start operation.
Operation
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The magnetic pole position is estimated while moving the robot a small distance at the timing of the first "servo ON".
During this operation, the robot moves a few millimeters to a dozen millimeters, depending on the robot model.
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CAutIoN
Do not perform magnetic pole position estimation while an external force is applied to the robot or the robot is at
a position near the mechanical end. Doing so may fail to estimate the magnetic pole position and cause an
alarm.
Setting value
Flag bit1=0 Closed mode
Flag bit1=1 Open mode
Servo OFF Magnetic pole position estimation
Description
Servo hold
5
23507-M2-00
5-49