User`s manual

5
Operation
5-3
 2. Originsearch(return-to-origin)
To decide the absolute position in the TS-SD, it is absolutely required to determine the origin point. This
operation is called "origin search (return-to-origin)". As the origin search (return-to-origin) is performed, the
absolute coordinates of the robot are determined.
A dedicated "origin search" ("return-to-origin") input is provided on the TS-SD. After the torque has been
detected by means of the stroke-end method, the robot always stops at the same position.
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WARNING
BEFORE STARTING THE RETURN-TO-ORIGIN OPERATION, MAKE SURE THAT THE ROBOT OPERATION BY THE PULSE TRAIN
COMMAND INPUT FROM THE HOST UNIT IS NOT RUNNING. IF THE RETURN-TO-ORIGIN OPERATION IS STARTED WHILE
THE ROBOT IS MOVING BY THE PULSE TRAIN COMMAND INPUT, THE RETURN-TO-ORIGIN OPERATION MAY NOT BE
COMPLETED CORRECTLY.
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CAUTION
 
and it is not completed correctly. The ORG signal must be kept turned ON until the return-to-origin is completed
successfully. To verify whether or not the return-to-origin has been completed successfully, check the return-
to-origin end status (ORG-S) signal.
  
cannot recognize the absolute position of the robot. If the return-to-origin function is not used, install external
 
2.1 Originpointdetectionmethod
The origin point detection method of the TS-SD is the stroke-end method.
As the return-to-origin starts, the robot moves in a specified return-to-origin direction until it is in contact with
the mechanical end. At this time, the movement direction is reversed by the motor torque detection and the
robot returns by an amount which is unique to each robot. The robot movement then stops and the return-to-
origin end status is established.
Stroke-end (torque detection) method
Return-to-origin direction (K14) = 0 (CCW)Model
TS-SD
Return-to-origin direction (K14) = 1 (CW)
O
S
O
S
Motor
Motor
L
L
K13
K13
S: (Return-to-origin start position); 0: (Origin point); K13: Return-to-origin speed
23503-M4-00
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CAUTION
The appropriate return-to-origin method is factory-set for each robot according to its type. So, do not change it.
2.2 Machinereference
This machine reference a numeric value that shows the difference between the position where the reference origin signal
is detected and the reference position of the position sensor of the motor when the origin search (return-to-origin) is
performed.Themachinereferenceisfactory-adjustedtowithin25%to75%.(Theadjustmentrangevariesaccordingto
the robot type. For details, refer to the user's manual for the robot being used.) The machine reference can be checked
when the return-to-origin is executed from the support software (TS-Manager).
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NOTE
The machine reference must be readjusted if it is not within the 25 to 75% range (or if it is outside the allowable
range of the robot being used). For details on the adjustment procedure, please contact us.